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Welcome to the G-KUMAR/golden_eagle wiki! For software pipeline visit repository page

Brief description

This repository presents an open source cost-effective visual inertial navigation based search and rescues MAV's software for exploration in an unknown environment using lightweight vision based open source method and searching, picking, and disposal of peril objects using versatile gripper.

We wish to hear your feedback in order to improve this project and fix some possible bugs. Please let us know about your developments!

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Labeled Images

3D Cad models

Link to cad models

Videos Links:

• Pick and fly:
  • Manual Flight 1
  • Manual Flight 2
  • Completely Autonomous Flight
• Dense Monocular Reconstruction:
  • Depth map to 3D Occupancy
• Obstacle Avoidance:
  • Dynamic Trajectory Generation
• Indoor Exploration:
  • Complete Autonomous Exploration

Price

• Tarot Ironman 650: 105$ (Robotshop)
• Pixhawk : 280$ (Robotshop)
• mv_bluefox mlc200w(with lens): 500$ approx (our quotation price)
• Motors(4)+battery(1) : 350$ approx (our bought price)
• Intel NUC : 400$ (https://www.intel.com/content/www/us/en/products/boards-kits/nuc/kits.html)
• RAM+SSD: 300$
• Dynamixel : 300$ (our purchase price)
• PS3 camera: 8$ (amazon.com)
• XSENS IMU: 900$
• TF mini lidar: 39$ (seed studio)
• ESCs: 80$ approx (our purchase)

(assuming gripper 3D printing will cost approx: 100$ per unit)

The total price is: 3400$ approx (with XSENS)

Alternate harware possibility

• Xsens can be replaced with any other IMU which can generate trigger outputs for CAM-IMU synchronization as explained here
• Any other gripper design can be chosen from other options
• mv_bluefox can be replaced with any other camera which can accept trigger inputs.

ToDo

• safety checks
• Every package details(with available alternatives) + movidius also
• Assembly explanation