Autonomous Drone

• Hardware used is : S500 Frame with components in a kit
• Weight of the entire drone with all the drone components and offboard computational boards: 2.0kg

Note: Tested on ROS Noetic on Ubuntu 20.04 (Focal Fossa)

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Spatial-LM Implementation using realsense d435(i)

• Point Cloud Understanding LLM model, basically an object detection and understanding on processed point cloud data.
• Understand spatial layouts and relationships using language
• more info here

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PX4-Autpilot and QGC(Drone Mission GUI) setup

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Drone Navigation Experiments

Using 3DVFH+* Local Planner for obstacle avoidance and path replanning

• Demo Video (navigation using 3dvfh+* local planner)

  1000045522.mp4

• The 3DVFH+* local planner repo is taken from this repo "https://github.com/PX4/PX4 Avoidance" follow the steps in this repo for installation.