1‐Localization Intro - LOG795-UAV-Search-and-Rescue/documentation GitHub Wiki
UAV-UGV Localization & Follow System
Welcome to the documentation for the Drone + UGV Collaborative System.
This wiki explains the complete pipeline to enable collaborative navigation between an autonomous drone and a UGV robot, including localization streaming, command signaling, fail‑safes, and visualization tools.
Overview
| Component | Role |
|---|---|
| Drone (VOXL / Starling) | Generates VIO localization & sends commands |
| Laptop / Ground Station | Receives localization & runs rover control algorithm |
| UGV Rover | Receives JSON commands and moves accordingly |
| ESP32 Sub‑Controller | Motor command interface for UGV |
What the System Does
The drone streams visual‑inertial odometry (VIO) data in this format:
timestamp, x, y, msg ,quality, reset_flag
The rover receives this, decides movement, and simulates or performs real movement. The msg contains the mode we're in.
System capabilities include:
- Continuous follow mode
- “Come‑To‑Me” triggered motion mode
- VIO quality filtering (ignore low‑quality hallucinated jumps)
- Reset detection & graceful realignment
- Visual debugging UI
Modes
| Mode | Description |
|---|---|
| Continuous Follow | Rover continuously pursues drone position |
| Come‑To‑Me | Rover waits until user triggers a follow command |
How to Run
On the Drone (VOXL)
Send VIO data + listen for trigger:
python3 read_vio_send_udp.py
Press ENTER on the drone shell at any time to trigger “Come‑To‑Me” mode.
On the Laptop / Rover Control System
Run the rover tracking + simulation UI:
python3 rover_follow_sim.py
This script:
- Displays drone & rover positions
- Sends JSON motor commands to rover (or simulator)
- Performs state logic, reset handling, filtering
Reference Links
| Resource | Link |
|---|---|
| Drone localization README | Drone Localization & VIO Streaming Guide |
| UGV JSON command spec | In repository wiki |
| ModalAI VOXL Docs | https://docs.modalai.com |
Next Pages in Wiki
- Setup & Network Configuration
- VOXL Localization Setup Checklist
- Drone VIO Streaming Script
- Rover Control Script Explanation
- Debugging Tools & Simulation
- Future Roadmap
Purpose of This Wiki
This wiki ensures that any new developer or engineer can:
- Configure the VOXL VIO system
- Stream & receive localization data
- Trigger UGV follow modes
- Understand reset & quality logic
- Run and visualize system operation