Seed-Plantation-Drone-Simulation

In this project work, we have designed an algorithm to spray seeds at regular intervals in fields through drone whose parameters are provided by the user. This required the calculation of Waypoints which define the traversal of the drone across the land. The time complexity of the proposed algorithm for the calculation of Waypoints is O((l/d)^2) where l is the side of the fitted square and d is the distance between seeds dropped.

Installation Guide

Walkthrough to set up the PC for successful execution

Install the package updates on your linux system:

sudo apt-get update

Install python2 if not already installed:

sudo apt install python2

DroneKit-Python and the dronekit-sitl simulator are installed from pip on all platforms. On Linux you will first need to install pip and python-dev:

sudo apt-get install python-pip python-dev

pip install dronekit

Install DroneKit – SITL:

pip install dronekit-sitl -UI

Install MAVProxy:

pip install MAVProxy

Install APMPlanner2

Download the latest deb file for your machine from: firmware.ardupilot.org/Tools/APMPlanner

Open a terminal window and go to the location where you downloaded the .deb file from step 2 and type the following command:

sudo apt-get -f install
sudo dpkg -i apm_planner*.deb

Running the code

Method 1: Directly running the python scripts:

python filename.py

Method 2: Run the APM Planner2 and minimize it. Open 3 terminals and execute each of the following in each terminal:

a) First run the DroneKit simulator with desired vehicle and its attributes.

dronekit-sitl copter --home=10.0,20.0,0,180

Above command runs the start the simulation with copter at home location (latitude = 10.0 and longitude = 20.0 in above command) and 0 and 180 are copter parameters like model etc. It starts the SITL connection at: tcp:127.0.0.1:5760

b) Use MavProxy to replicate the connection to other links like:

mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551

APM Planner should automatically connect to one of the out links from above command.

c) Now run the required python drone script drone_AUTO.py or drone_GUIDED.py as follows:

python drone_GUIDED.py --connect udp:127.0.0.1:14551

or

python drone_AUTO.py --connect udp:127.0.0.1:14551

Monitor the drone in APM Planner and terminal outputs. For detailed terminal outputs view the Master.log generated by the code.