Software in the Loop (SIL) Simulation for an Autonomous Multirotor Flight Planning and Landing with ROS and Gazebo
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Tarih
2023
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Unmanned Aerial Vehicles (UAVs) have emerged as a transformative asset in surveillance, mapping, and delivery tasks since they have sophisticated autonomous capabilities. This paper focuses on enhancing the UAV autonomy by addressing the autonomous detection of suitable landing sites and safe landing flight planning, which are both critical in emergency scenarios. To mitigate the possible risks during the flight tests, vision-based sensors and image processing techniques, along with the developed guidance and control algorithms are evaluated in Software in the Loop (SIL) simulation using the Robot Operating System (ROS) and Gazebo simulation environments. The key novelty of this paper is proposing a vision-based hybrid LQR-integrator flight planning strategy for safe landing and optimal control of the UAVs. Therefore, this paper incorporates the image processing techniques for the landing site detection and UAV kinematics for safe and autonomous landing on the selected site. Further contributions of this paper are the selection of a compatible image processing technique, translation of the selected site position data into a control reference frame, development of a novel controller strategy, and the utilization of an observer for destination verification. Through the comprehensive simulations using Gazebo and ROS, the paper evaluates the effectiveness of the proposed framework, paving the way for further real-world testing and implementation. © 2023 IEEE.
Açıklama
7th International Symposium on Innovative Approaches in Smart Technologies, ISAS 2023 -- 23 November 2023 through 25 November 2023 -- Istanbul -- 196776
Anahtar Kelimeler
Gazebo, Image Processing, Optimal Flight Planning, ROS, Software in the Loop Simulation (SIL), UAV, Vision-Based landing
Kaynak
ISAS 2023 - 7th International Symposium on Innovative Approaches in Smart Technologies, Proceedings
