🚁 Drone Navigation in Webots

This project simulates the autonomous navigation of a quadcopter drone using Webots — an open-source 3D robotics simulator. The drone navigates from a defined start point to a destination while avoiding obstacles in a custom environment.

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🚀 Project Goals

• Simulate basic drone flight in Webots
• Build a custom world with obstacles
• Implement simple navigation logic using sensors (e.g., GPS, distance sensors)
• Expand into SLAM and RL-based control

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📁 Project Structure

drone-navigation-webots/
├── .gitignore
├── .project
├── README.md              ← You're here!
├── controllers/
│   └── mavic2pro/
│       ├── Makefile
│       └── mavic2pro.c    ← Drone control code
├── worlds/
│   ├── .drone-world.jpg
│   └── drone-world.wbt    ← Simulation world

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🛠️ Setup Instructions

1. Install Webots
   Download from: https://cyberbotics.com/#download

2. Clone the Repository

   git clone https://github.com/Sahana1230spec/drone-navigation-webots.git
   cd drone-navigation-webots

3. Open Webots

   • Go to File → Open World
   • Select drone-world.wbt

4. Run the Simulation

   • Click the Play ▶️ button
   • The mavic2pro controller handles basic drone logic

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🌍 Environment Details

• Add obstacles using Box, Cylinder, etc.
• Create floor layouts or simple mazes
• Use Supervisor nodes for high-level control

Future Updates:

• Obstacle avoidance logic
• Goal-based navigation
• Dynamic path planning

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🧠 Problem Statement

Build an autonomous drone system that flies from a defined start point to a goal, while avoiding static obstacles in a 3D virtual world.

This serves as a base for:

• PID tuning
• Visual SLAM (e.g., ORB-SLAM3)
• RL-based navigation (e.g., PPO, DQN)

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✅ Features

• Quadcopter take-off & hover
• Custom obstacle environment
• Navigation logic (WIP)
• Autonomous goal-reaching (Coming Soon)

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📌 Future Scope

• ORB-SLAM3 integration
• RL with PPO/DQN using Gym-style wrappers
• Dynamic environments with moving obstacles