VFF-Nav: Autonomous Drone Navigation using Virtual Force Fields

A research project implementing Virtual Force Fields for autonomous drone navigation and obstacle avoidance

Developed in partnership with CITI-USP

Python 3.10 ROS2 Jazzy Jalisco Gazebo 11 PX4 1.14
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Welcome to VFF-Nav

An advanced autonomous navigation system for drones using Virtual Force Fields with heuristic parameter optimization.

Quick Start

Get up and running with our installation guide and simulation setup.

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Mathematical Model

Explore the electrostatic analogy and force field equations behind our approach.

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Results

See performance metrics, optimal parameters, and demonstration videos.

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Key Features

Real-time Navigation

Autonomous obstacle avoidance and path planning in dynamic environments.

ROS 2 Integration

Seamless integration with ROS 2 and Gazebo simulation environment.

Parameter Optimization

Heuristic search for optimal Virtual Force Field parameters.

PX4 Autopilot

Compatible with PX4 autopilot for real-world deployment.