Autonomous-Drone-Navigation-System using HoverAviary

Overview

This project is a drone waypoint navigation system built using the HoverAviary environment from gym-pybullet-drones. The system enables a drone to navigate through a sequence of predefined waypoints, visually marking each waypoint and updating its status upon reaching it. The drone's control mechanism is implemented using DSLPIDControl.

Features

• Waypoint visualization: Displays waypoints as red spheres in the PyBullet environment.
• Navigation control: Uses DSLPIDControl to guide the drone to each waypoint.
• Real-time status updates: Changes waypoint color to green when reached.
• Hovering mechanism: Ensures the drone hovers at each waypoint for a minimum time.
• Simulation parameters: Configurable physics engine, control frequency, and GUI.

Demo

🎥

Installation

Clone this repository and navigate to the project directory:

git clone https://github.com/ajaykrishna00-7/Autonomous_drone_navigation
git clone https://github.com/utiasDSL/gym-pybullet-drones.git 
cd gym-pybullet-drones
pip install -e
cd
cd Autonomous_drone_navigation
pip install -r Requirements.txt

Usage

Run the script with default waypoints:

python Final_code.py

To specify custom waypoints, modify the waypoints list in the script:

waypoints = [(0, 0, 1), (2, 2, 2), (3, 3, 2), (2, 2, 1)]

Code Explanation

add_waypoint_markers(env, waypoints, sphere_size=0.13)

Adds visual sphere markers and numerical labels to waypoints in the PyBullet simulation.

change_marker_color(waypoint_id, env)

Updates the waypoint color to green when reached by the drone.

drone_path_execution(waypoints, ...)

Main function that initializes the environment, sets up the drone controllers, and simulates the navigation process.

Configuration

Modify parameters such as:

• GUI Mode: Set gui=False to run without visualization.
• Simulation Duration: Adjust duration_sec for longer or shorter runs.
• Control Frequency: Tune control_freq_hz for smoother navigation.

Team Members:

• Ajay Krishna P (Myself)
• Bargavan R (https://github.com/BargavanR/)

License

This project is open-source and available under the MIT License.