IDEA for the Ps problem

 PS: "Develop a simulation environment for the autonomous collaboration between Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) in a dynamic setting. The objective is for the UAV, equipped with a single RGB camera, to map the surroundings and guide the UGV to a predetermined destination point.you may use any number of aruco markers"


Defining Requirements and Objectives :

* UAV , UGVs , as hardware
* UAV 's requirment : Single RGB camera ,

objective : to provide a path to UGV by using UAV to reach some predetrmined destination , 
 

Assumptions :

    0. Let's say we have given a world of cuboidal room ,which have obsticles only on ground
    1. All the obsticles are on the ground
    2. There are no any obsticles for UAV except the wall of the world
    3. UAV's Rgb camera can detects( at any time ) and ground ( only when it is just above the aruco marker ) .
    4. UGV runs only on ground and have obstacles and walls of the world to interact with and have to reach a perticular predetermined destination
    5. Assuming the obsticale 's size is less than or of size of UAV.

Workings :

    1. We will put aruco markers on each obstacles so that whenever the UAV is above the obstacle it detects the obstacles and maps for the UGV that there is obstacle. 

    2. We will have 2, 3 markers above ( vertically on the wall ) the Destination ( near the destination of UGV so that first of all UAV detects the direction of Destination and start moving towards it
    What will be the Path of the UAV ?
    UAV will pass his location to the controlling system ,
    the controlling system will have locations of UAV and UGV , UAV will send the aprox co-ordinates of the destination , the software system we will be using will discuss later on stage but lets' discuss what it will going to do/ process
        controlling system processings and job :
        The controlling system will create a straight line by UGV's coordinates and the Aprox coordinates of the path ,  Then
        The Path generated for UAV is s.t it's velocity will be on the straight line totally but it will be moving while forming a circular arc of 45-60 degree

    

How the UAV and UGV runs symultaneously :

    breifly explaining the basic idea :

    1. the UAV and UGV will be armed from a common starting point , the UAV will be just above the UGV and at stable position in the begining 

    2. The UAV will starting moving around to and froth motion generated by computer from initially specified angle ( say 60 degree ) and go away from UGV a specified distance ( say 3 Unit ) and start oscalliating about the UGV look for two or three aruco markers ( which are symbolized by black stamps on the given image ) . 

    3. Then send the node signal to the controlling system ( or the processing system whater be the name ) . them messsage contains the coordinates of the aruco markers ( multiple ) 

    4. the processing system will device a straight path on the 2d ground by using the mean co-ordinate of aruco markers and the UGV's current location .( represented the blue color straight path ) 

    5. The UAV will remain forward and continue doing harmonic motion
        the harmonic motion ( mean position is the path , ocallation is about the location of UGV maintaining the constant distance ( that was 3 unit ) from UGV's co-ordinates . ( represented by the greenish colored zig-zag path ) .

    6. Whenever UAV will find any obstacle's aruco marker will send a messege to the processing software and the software changes UGV's path slightly away from the obstacle  ( represented by the Purple line in the images .

7, now the co-ordinate of the UGV changes the blue color straight patch changes instanteneously hence the zig-zag path of uav changes instantenously

Ans : The path of the UAV will be s.t. it oscillates about UGV maintaining some constant distance from UGV all the time ( unless the UAV's distance wil the mean of aruco marker's is less then the constant distance ) having a mean of its' oscillaion motion on the straight path of the moving objects and a some fixed object on the plane , having some fixed oscillation angle defined initially ( the fixed angle , distance , and point will depends on the environment given to us ) .

8. Not mentioned in diagram the walls will be considered as obstacle and hence UGV will change its path skipping the part of oscallition that will go beyond the walls ( giving messege to processing system of obstacle to change uGv's path and ask for new purple colored path accordingly in order to minimize the oscillatory pathe crossing the wall .

9. At the final stage when the distance between the destination's aruco marker is less then the fixed distance from UGV  for UAV , UAV will loss the constrain of fixed distance from the UGV and tries the balance its position between the mean position of the destination's aruco marker's path and finally giving the exact position of the Destination to the processing system and moving the UGV to perfectly park on the Destination position .

HARDWARE REQUIRMENTS :
    The uav ( as a drone containig location sensor and a RGB camera )
    The UGV ( a Rc car containig location sensor and remote controle )
    The processing system ( cpu  / laptop or pc which will revice messege and give messege to controller ) 

    

1. GPS (Global Positioning System):

• Both UAVs and UGVs can be equipped with GPS receivers to obtain accurate location data. GPS provides latitude, longitude, altitude, and sometimes even heading information.
• The GPS data can be used to track the live locations of the vehicles.

2. IMU (Inertial Measurement Unit):

• IMUs are sensors that can provide information about the orientation and acceleration of the vehicles.
• Combining IMU data with GPS can provide more accurate and robust location information.

3. Odometry Sensors:

• UGVs often use wheel encoders and other odometry sensors to estimate their position and track movement.
• UAVs can use optical flow sensors or barometers to measure altitude changes

 

 

 

Software Requirments :

• Object Detection:
  
  Use the RGB camera to detect Aruco markers.
   
• Path Planning: Develop path planning algorithms for the UAV to map the surroundings and plan routes for the UGV.
  ROS packages : Utilize existing ROS packages for object detection, path planning, and communication between the UAV and UGV. 
  May matlab get a use to create the changing paths of both UAV and UGV
  
• Communication: Implement communication protocols between the UAV and UGV for collaboration.
  

  1. ROS (Robot Operating System):

     • ROS is a popular choice for robotics projects. It provides a communication framework that allows nodes (components) to exchange messages over topics.
     • Both the UAV and UGV can run ROS nodes that publish and subscribe to relevant topics.

  2. MQTT (Message Queuing Telemetry Transport):

     • MQTT is a lightweight publish-subscribe protocol that is suitable for IoT and remote communication.
     • Implement MQTT libraries on both the UAV and UGV to publish and subscribe to specific topics.
       

   
• Stimulation :
  
  Use Gazebo to create a dynamic simulation environment where UAVs and UGVs can interact. You will need to create a 3D model of the environment with obstacles and Aruco markers.