Rover_Search_And_Return

Description:

For at least three decades, scientists have advocated the return of geological samples from Mars. One early concept was the Sample Collection for Investigation of Mars (SCIM) proposal, which involved sending a spacecraft in a grazing pass through Mars's upper atmosphere to collect dust and air samples without landing or orbiting. As of late 1999, the MSR mission was anticipated to be launched from Earth in 2003 and 2005. Each was to deliver a rover and a Mars ascent vehicle, and a French supplied Mars orbiter with Earth return capability was to be included in 2005. Sample containers orbited by both MAVs were to reach Earth in 2008. This mission concept, considered by NASA's Mars Exploration Program to return samples by 2008, was cancelled following a program review

In this project, we’ll do computer vision for robotics.We are going to build a Sample & Return Rover in simulation. Mainly, we’ll control the robot from images streamed from a camera mounted on the robot. The project aims to do autonomous mapping and navigation given an initial map of the environment. Realistically speaking, the hard work is done now that you have the mapping component! You will have the option to choose whether to send orders like the throttle, brake, and steering with each new image the rover's camera produces.

Phase I Requirements:

1. Your pipeline should be able to map at least 40% of the environment at 60% fidelity.
   It should repaint the map image to distinguish between navigable terrain, obstacles and rock samples.
   

2. You’re required to locate at least one rock in the environment.
   

3. You should also implement debugging mode where each step of your pipeline is illustrated with the vehicle operation.
   

Project Walkthrough

Project WalkThrough Video

Phase I Results:

Demo I

Phase II Requirements:

1. map at least 95% of the environment at 85% fidelity

2. locate and pick up at least five rocks out of the six, and then return them back to the start position

Phase II Results:

Demo II

Contributers:

Name	Id
Ahmed Elsayed Rashad Mohamed	1900730
Nada Amin Abdelsattar Ali	1900594
Heba Mahmoud Abd Elhafez Bakry	1900402
Jumana Emad Eldin Saleh Mohamed Elhak	1900980
Mariam samir wassef	1900313

How To Run The Code

1. Download Simulator Linux
2. Clone The Repo
3. Create A new Environment
4. Download Dependencies RoboND-Python-Starterkit
5. Run drive_rover.py File
6. open the simulator and Select Autonomous Mode
7. Enjoy! 😉