Motion and Path Planning of Drones using ROS
WHAT IS ROS ?
ROS is Robot Operating System and it is a robotics framework which provides tools and libraries to help software developers to create robot applications.For those who want a more detailed explanation I highly recommend the ROS Wiki : http://wiki.ros.org/ROS/Introduction. You can also check our previous article highlighting the benefits of using RPS : https://blog.zairza.in/why-ros-18221b2fe6a.
The path planning is somewhat trivial but motion planning on the other hand is not that easy. Path planning is a process you use to construct a path from a starting point to an end point given a full, partial or dynamic map. Motion planning is the process by which you define the set of actions you need to execute to follow the path you planned.
Testing of a robot code can be time-consuming and error-prone and sometimes physical robot might not be present. ROS provides a solution to this problem as it separates the hardware part and decision making i.e coding part. It is a open-source software so you can try GSOC in this domain also.
For showing the path and motion planning of drones we need a simulator. A robotics simulator is used to create application for a physical robot without depending on the actual machine, thus saving cost and time. In some case, these applications can be transferred onto the physical robot without modifications. So we have used V -REP.
One of the main challenges for intelligent UAV development is path planning in adverse environments. The objective is to complete the given mission to arrive at the given target within a prescribed time while maximizing the safety of the UAVs.
Various methods used for path planning are Graph theory, Probability map, Conversion to shortest path problem and shortest path algorithms.
In any mission, for UAV to successfully accomplish the allotted tasks, Its has to move along a path that is either prefixed or that is generated instantaneously on-board based on existing constraints. In most cases, the mission criteria are preloaded into UAV that consists of staring and terminal point.
The whole system is divided into two nodes V-rep interfaced quadcopter acts as the coordinator node sending and receiving data through Xbee communication.The quadcopter interfaced real-time computer unit where the real movement of the robot is simulated in a virtual environment using V-REP.The simulation of path and motion planning is done using the virtual environment and the data is sent through the Zigbee.The simulation data is received by the Zigbee on the Quadcopter and the quadcopter moves in the path planned.
SIMULATION RESULTS
Autonomy skyrocketing is going to be the future innovation. ROS platform plays a major role for the planning of E-drones and encapsulating the same with the real one.This concept can be used in the field of agriculture, for spraying drones in a particular mapped area.It also can be used as patrolling UAV and can planned the path to reach the desired location. I will keep writing blogs about the projects and the opportunities one can get by using this framework. Thanks for reading!
To find out more about ROS refer to the following links:
