uav_landing

Overview

The project creates an Unmanned Autonomous Vehicle (UAV) capable of landing on stationary and moving target. The UAV is maneuvered through a controller and has the ability to optimally track, detect and land on the target.

Keywords: moving target, stationary target, landing

Dependencies

• Robot Operating System (ROS) (middleware for robotics),
• hector_quadrotor (quadcopter used for the project)
• hector_gazebo (gazebo support for hector quadrotor)
• tf_velocity_estimator (A ROS package that helps estimate the veolocity of a TF frame)
• ar_helipad (A ROS package that is used to detect helipads (landing zones) that have one or two (bundled) AR tags)
• ar_track_alvar

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/suveergarg/uav_landing
cd ../
rosdep install --from-paths . --ignore-src
catkin_make

Usage

Run the main node with

roslaunch uav_landing main.launch

python src/exploration_node.py
python src/controller1.py

Nodes

exploration_node

Published Topics

• /action/pose/goal ([hector_uav_msgs/PoseActionGoal]) Sends the target position to acheive for the platform

• /cmd_vel ([geometry_msgs/Twist ])

moving_helipad

Subscribed Topics

• /gazebo/model_states ([gazebo_msgs /ModelStates]) Gets the ground truth value for the position of platform

Published Topics

• /gazebo/set_model_state ([gazebo_msgs /ModelState]) Sets the ground truth value for the position of platform

estimate_pad_velocity

Subscribed Topics

• /tf ([tf2_msgs/TFMessage])

Published Topics

• /pad_velocity ([tf_velocity_estimator/PosesAndVelocities]) Send the platform velocity and position

pid_tuner

Subscribed Topics

• /ground_truth/state ([nav_msgs/Odometry])

Published Topics

• /pid_tuner ([std_msgs/Bool]) Send the platform velocity and position

controller1

Subscribed Topics

• /ground_truth/state ([nav_msgs /Odometry])

• /pad_velocity ([tf_velocity_estimator /PosesAndVelocities ]) Gets the estimated landing platform velocity

Published Topics

• /command/pose ([geometry_msgs/PoseStamped ])

• /command/twist ([geometry_msgs /TwistStamped ]) Send commands to be executed for the quadrotor

• /cmd_vel ([geometry_msgs /Twist ])

• /pid_tuner ([std_msgs /Bool ]) Informs pid when to start/stop recording the trajectory being generated

Results

Results for the trajectory generated for the following tasks -

Landing on Stationary platform

Landing Video

Landing on Moving Platform

To and Fro Motion

Landing Video

Motion in Square Perimeter

Landing Video

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.