This project involves the development of a simulation model for the autonomous landing of a multirotor unmanned aerial vehicle (UAV) on a moving landing platform. The simulation utilizes Aruco fractal marker pose estimation for precise landing.
- PX4 Autopilot (v1.13.3)
- Gazebo
- ROS1
- OpenCV
- Aruco Library
camera_calibration/- Contains calibration files for the camera used in the simulation.drone_fsm.yaml- Configuration for the drone finite state machine.landing_controller.yaml- Configuration for the landing controller.aruco_estimator.yaml- Configuration for Aruco marker estimation.ugv_control.yaml- Configuration for the unmanned ground vehicle.
drone_fsm.launch- Launch file for the drone finite state machine.landing_controller.launch- Launch file for the landing controller.aruco_estimator.launch- Launch file for the Aruco marker estimator.spawn_husky.launch- Launch file for spawning the Husky model.spawn_iris.launch- Launch file for spawning the Iris model.ugv_control.launch- Launch file for UGV control.uav_landing.launch- Main launch file for the UAV landing simulation.
drone_fsm.py- Script for the drone finite state machine.landing_controller.py- Script for the landing controller.
aruco_estimator.py- Script for Aruco marker estimation.
ugv_control.py- Script for UGV control.
sim_windy_world/- Gazebo world files for simulating windy conditions.sim_world/- General Gazebo world files.
The simulation employs the following technologies for accurate landing:
- Aruco Fractal Marker Pose Estimation: Utilizes Aruco fractal markers to determine the precise position and orientation of the landing platform.
- Bachelor thesis
- Anikin Dmitry, et al. "Autonomous landing algorithm for UAV on a mobile robotic platform with a fractal marker." International Conference on Interactive Collaborative Robotics. Cham: Springer Nature Switzerland, 2023.
- Ryabinov Artyom Valer'evich, Anton Igorevich Saveliev, and Dmitriy Andreevich Anikin. "Modeling the influence of external influences on the process of automated landing of a UAV-quadcopter on a moving platform using technical vision." Modelirovanie i Analiz Informatsionnykh Sistem 30.4 (2023): 366-381.