Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs offers flexibility, cost savings, and reduced risk. The system creates a simulated quadcopter capable of autonomously travelling in an indoor environment using the gazebo simulation tool and the ros navigation system framework known as Navigaation2. While Nav2 has successfully shown the functioning of autonomous navigation in terrestrial robots and vehicles, the same hasn't been accomplished with unmanned aerial vehicles and still has to be done. The goal is to use the slam toolbox for ROS and the Nav2 navigation system framework to construct a simulated drone that can move autonomously in an indoor (gps-less) environment.
翻译:无人机是自主数据收集和室内感应的有前途的技术。在人控无人机不实用或不可靠的情况下,如在未经勘探或危险区域,使用自主无人机提供了灵活性、节约成本和降低风险的优势。该系统使用Gazebo模拟工具和ROS导航系统框架Nav2创建了一个模拟四旋翼无人机,能够在室内环境中自主运动。虽然Nav2已成功展示了陆地机器人和车辆的自主导航功能,但在无人机上没有达成同样的成果,仍需进一步探索。目标是利用ROS的SLAM工具箱和Nav2导航系统框架构建一个可以在室内(gps-free)环境中自主移动的模拟无人机。