UKSEDS Olympus Rover Trials

An autonomous planetary rover prototype with advanced sensor fusion and computer vision capabilities

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📖 Overview

Welcome to MANN-E Rover – a custom-built planetary rover developed for the UKSEDS Olympus Rover Trials! This repository contains the complete software stack for an autonomous and remotely operated rover prototype, featuring advanced hardware control, sensor fusion, a Flask-based web interface, and robust computer vision capabilities.

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✨ Key Features

Control Dashboard Live video streaming Real-time sensor telemetry Manual & automated mission controls Intuitive web interface Tech: Flask, HTML/CSS, JavaScript	Autonomous Navigation Precise odometry calculations Turn-then-drive sequences 2D pose estimation (X, Y, θ) Mission path execution Tech: Python, Kinematics Engine
Sensor Fusion IMU + Encoder integration Roll/Pitch monitoring Absolute distance tracking Real-time pose updates Tech: I2C, Serial Communication	Computer Vision Camera servo control QR code detection Video stream processing Automated scanning Tech: OpenCV, Computer Vision

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🏗️ Architecture

┌─────────────────────────────────────────────────────────┐
│                    Web Dashboard (Flask)                │
│               Telemetry • Controls • Video              │
└────────────────────────┬────────────────────────────────┘
                         │
          ┌──────────────┴──────────────┐
          │                             │
┌─────────▼─────────┐         ┌────────▼────────┐
│  Python Control   │         │  Computer Vision │
│   • Kinematics    │◄────────┤   • QR Detection │
│   • Automation    │         │   • Camera Servo │
│   • Sensor Fusion │         └─────────────────┘
└─────────┬─────────┘
          │
┌─────────▼─────────────────────────────────────┐
│         Hardware Layer (Arduino C++)          │
│    Motors • IMU • Encoders • Servos          │
└───────────────────────────────────────────────┘

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🚀 Quick Start

Prerequisites

• Raspberry Pi 4/5 with SSH enabled
• Python 3.x
• Hardware: Motors, IMU, Encoders, Camera, Servo

Installation

1. Clone the repository

git clone https://github.com/gokulsp1995/rover-code.git
cd rover-code

2. Install dependencies

pip3 install flask opencv-python-headless RPi.GPIO smbus

3. Launch the control dashboard

python3 app.py

4. Access the interface

Open your browser: http://<your_pi_ip_address>:5000

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🔧 Connection Guide

Click to expand setup instructions

Network Setup

1. Connect both Pi and laptop to the same WiFi network
2. Find your Pi's IP address or use raspberrypi.local

SSH Connection

# Using hostname
ssh gokul@raspberrypi.local

# Or using IP address
ssh gokul@<pi_ip_address>

Running the Application

cd ~/Desktop/MANN-E/
python3 app.py

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📂 Project Structure

Component	Files	Description
Web Interface	app.py, index.html, style.css	Flask server & control dashboard
Autonomy	automation_controller.py, kinematics.py	Mission planning & execution
Sensors	imu.py, encoders.py, hardware.py	Sensor fusion & data processing
Vision	qr.py, camera_scan_controller.py, servo_cam.py	Computer vision & scanning
Communication	serial_comm.py, heartbeat.py	Hardware interface & health monitoring

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🎥 Media & Demos

Sand Testing at Airbus Facility

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Contributing

We welcome contributions! Here's how you can help:

1. Fork the repository
2. Create a feature branch (git checkout -b feature/AmazingFeature)
3. Commit your changes (git commit -m 'Add some AmazingFeature')
4. Push to the branch (git push origin feature/AmazingFeature)
5. Open a Pull Request

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Key Milestones

Feature	Status	Description
Auto Camera Tilt	✅ Complete	Full camera control for autonomous scanning
Automation System	✅ Complete	End-to-end autonomous mission execution
OOP Refactor	✅ Complete	Object-oriented kinematics model
Sensor Fusion	✅ Complete	IMU integration with roll/pitch/yaw
Manual Control	✅ Complete	Stable web-based manual operation

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Contact & Support

• Found a bug? Open an issue
• Have a suggestion? Start a discussion
• Email: gokulsp2020@outlook.com

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Built for UKSEDS Olympus Rover Trials

⭐ Star this repo if you find it helpful!

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