Autonomous Indoor Drone Application

Rumaisa Abdulhai (Aug 2019 - May 2021)

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Introduction

This repository allows a quadcopter with a Hokuyo 2D lidar to:

  1. Map an indoor environment using the gmapping SLAM algorithm and teleoperation
  2. Map an indoor environment using the google cartographer SLAM algorithm and teleoperation
  3. Map an indoor environment using the gmapping SLAM algorithm and frontier exploration
  4. Autonomously navigate from one location to another using the move_base node

Demos

  1. Indoor SLAM with a Quadcopter Using GMapping, Gazebo & ROS
  2. Autonomous Navigation of a Quadcopter Using MoveBase, AMCL, Gazebo, & ROS
  3. Autonomous Mapping of Environment Using Frontier Exploration, GMapping, Gazebo, & ROS
  4. Quadcopter using Google Cartographer & Teleop for Mapping
  5. Quadcopter Navigating an Indoor Environment using a Map Built with Google Cartographer

References

Below are the links I referenced to develop this package.

  1. ROS Tutorials
  2. Gazebo Environment
  3. Gazebo/ROS Project with Terrestrial Robot
  4. Mapping with Quadcopter and Laser
  5. Quadcopter Localization
  6. Quadcopter Path Planning
  7. Frontier Exploration