Digital Twins
My project is dedicated to developing digital twin capabilities for various robot types, creating a versatile testing environment within multiple simulations. The focus is on replicating the robots with high accuracy in a digital environment while ensuring minimal latency in communication between the simulation and the actual robots.
This initiative enhances the testing and development of robotic systems by enabling precise simulations under diverse scenarios. The emphasis on low latency is vital for real-time responsiveness, closely mirroring real-world conditions. My work in this area not only improves the reliability of robots but also opens doors to more advanced applications in robotics and simulation technology.
Mainly this project consists of developing Digital Twins for two specific types of robotic vehicles, a 4 wheel drive rover [ROS BASED] and a small handheld drone {Python SDK]. Most of the testing was done in a Controlled environment.
More details and the overall architecture of this project can be found on Github: https://github.com/antrikshv/Tello/tree/master/Swarm/PythonTello/UnitySwarm [4WD digital twin was not uploaded due to large data and ROS usage]
Tello Drone Twin
Using python as well as opencv, to control the drone and relay the information. Unity game engine was used for the digital twin with unitys built in nvidia physics engine to simulate the movement of the drone to match the actual Tello Drone
4WD Rover Twin
Using a ROS based rover to control and move the rover. Together with the ROS2 unity packages, as well a Unity and the built in physics engine, I was able to simulate and match the movement and handle the communication between ROS based vehicle and the Unity Simulation