SITL: Vector Field-Based Robust Quadrotor Landing on a Moving Ground Platform

Description

This ros package is used to validate the vector field-based tracking and landing control in Gazebo simulation.

It is included that

• PX4-Gazebo Simulation: You can make drone takeoff or mode change to offboard.
• Ground Vehicle Control: You can control the ground vehicle with the keyboard.
• Vector Field-Based Tracking and Landing: The quadrotor is controlled autonomously by the vector field.
• Data Logging: When you start the control.launch, control data is being saved to csv in data/ folder.

Note: Since this package is for validating the vector field control, the decision-making module is autonomously processed.

Usage

Run Simulation

1. Modify the ROS, PX4 path in the shell script (i.e., gazebo.sh).
2. Run the shell script (i.e., sitl_start.sh).

   cd start/
   ./sitl_start.sh sitl.yml
   

Note: If you did not have the PX4-Autopilot package, you can clone here.

Screenshot

Parameters

• In the decision_making.launch,
  • landing_condition_duration: Adjust the landing timer.
• In the control.launch,
  • logging_path: In order to save the log data, write the path correctly.
• In the ground_platform.world,
  • Wind speed and direction can be changed.