ABRA Autonomous Fire-Fighting UAV
A rotary-wing UAV carrying a water tank and flying autonomous routes, built for the fire-extinguishing theme of the Teknofest 2020 TÜBİTAK UAV competition.
Overview
ABRA is the rotary-wing UAV we built as Team ÖZTÜRK for the fire-extinguishing theme of the Teknofest 2020 TÜBİTAK UAV competition. Carrying a water/extinguishant tank underneath, it was designed to autonomously reach the target and complete the mission.
My Role
I coded the UAV's autonomous control software in Python with a multi-threading architecture, and built the communication software as a C# desktop app ("ABRA MCU GCS"). The ground station sent labelled mission points (start/end coordinates) to the UAV, which flew the route autonomously; the GCS could also start/stop the autonomy unit remotely.
Simulation Validation
I validated the autonomous mission logic in Gazebo + MAVProxy by running waypoint missions with real coordinates — testing behaviour before any real flight.
Outputs & Results
The result was a working autonomous control + ground control software; we were eliminated at the final-report stage. Even so, multi-threaded autonomous flight in Python and a C# ground station matured here and paved the way for the national championship a year later (KAPGAN).
Autonomous Mission Flow
Send Route
Mission points from GCS (C#)
Autonomous Flight
Python + multi-threading
Fire Detection
Locate the target zone
Approach
Autonomous approach
Extinguish
Release water/extinguishant
Tech Stack
Gallery
Planning an autonomous mission drone (fire, search, cargo)?
I develop multi-threaded autonomous control plus a desktop mission/ground-control app, and validate it in Gazebo before any flight.
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