Working autonomously detecting mines
But can also be simulated
Following movements step by step
Combining the ground vehicle Balrog with the UAV Sauron in the mission to detect mines.
A SLAM algorithm is used to simultaneously estimate Balrog’s position and map its surroundings. The OpenKarto ROS package is utilized, which is an optimization based algorithm. It takes as input sensor data from a rotating LiDAR and wheel encoders.
The navigation module has three different modes: mapping, covering and disarming. The mapping mode explores and map the assigned area. The covering mode covers all regions and search the mapped area for mines. Finally, in the disarming mode Balrog visits all the mines detected in mapping and covering for disarming.
The localization module is responsible for detecting Balrog and to estimate Sauron’s position and orientation with respect to Balrog. This was achieved by mounting an AprilTag on Balrog and modifying an external AprilTag ROS package.
To be able to track the moving Balrog, four time discrete PID controllers were implemented that control the height, pitch, roll and yaw of Sauron. Input to these controllers are the position and orientation of Sauron relative to Balrog, as outputted by the localization module.
The project manager is responsible for communicating with the customer and client. He is also responsible for that the goals of the project are accomplished within the specified time. The project manager also encourages the other participants to conduct their work effectively and helps to resolve any internal conflicts that may arise. Also part of the Sauron group.
Has the responsibilities of setting up templates for all documents, ensures a consistent structure in all documents and is responsible of handing in documents and doing so on time. Works in the Balrog group with navigation.
Has the responsibilities of setting up a test plan, ensuring that tests are synchronized with each other and making sure that testing is well documented. Works in the Balrog group with SLAM and control.
Has the responsibilities of coordinating the design process between the subgroups and ensuring that the requirements regarding the design are fulfilled at the end of the project. Works in the Sauron group.
Has the responsibilities of reporting and resolving hardware malfunctions and ensuring that the hardware is secure when not in use. Works in the Sauron group.
Has the responsibilities of ensuring that all code is written according to the standard and is well commented, creating a backup of new releases and making sure old versions of the code are accessible. Works in the Sauron group.
Has the responsibilities of ensuring all requirements regarding SLAM are fulfilled at the end of the project and making sure that the development work concerning SLAM is well documented.
Has the responsibilities of making sure requirements regarding route planning and navigation are fulfilled at the end of the project and making sure that the development work concerning route planning and navigation is well documented.