Indoor Mapping and Navigation using Crazyflie Nano-drone

Developed at ARISE Lab, IIITDM Kancheepuram   May 2024 - Nov 2024   Github Repository

Introduction

 

This project was part of research which focuses on mapping using nano drones equipped with basic distance sensors that efficiently map indoor spaces. This system consists of a mapper drone that maps the environment and generates viable paths, which other robots or drones can follow to explore the space efficiently. The algorithm and navigation setup were first tested in a simulation environment using Gazebo Sim where the follower drone traversed the mapper drone’s path with 93.05% accuracy.

Working

The software framework uses ROS2 middleware with Crazyswarm2 package. The mapper drone’s system handles exploration and trajectory generation, broadcasting viable paths to the follower robots/drones.

Demo

Check out the demo video below: