DRDO UAV-UGV Challenge

Introduction :

This is our solution of our cotingent for the DRDO UAV-UGV Challenge of mid prep event of 10th Inter IIT 2022.

Problem Statement :

The problem statement is to map an area via UAV aerial imagery and aid a UGV in navigating a complex static environment. This requires the team to map the mountain road in the worlds using a UAV and guide a UGV through the area, navigating across various turns, altitudes, and depth of terrain.

The major components include vehicle consideration (sensors), computer vision development, path planning, vehicle control, integration of multiple systems, and finally the validation and testing of the algorithms in standardized environments.
The UAV is tasked to map the area following which the original image overlay of the terrain would be replaced with a plain overlay. The UGV then has to traverse the mountain road with aid from the UAV.
The UGV should traverse along the center of the road.
The UAV should not fly higher than 20m. The UAV is allowed the use of a downward- facing RGBD-camera, IMU sensor, and GPS.
No sensors are allowed on the UGV.
The speed of the UGV should be limited to 35 km/hr.
The integration of all the algorithms is to be ensured for the program to efficiently gather and process data to map and give the path planning information.
The task is considered to be completed when the UGV successfully navigates across the terrain to the end of the road with aid from the UAV.