Autonomous Landing Simulation for Multirotor UAVs

Project Overview

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 and ultra-wideband technology, and infrared optical beacons for precise landing. This work is part of my bachelor thesis.

Dependencies

1. PX4 Autopilot (v1.13.1)
2. Gazebo
3. ROS1
4. OpenCV
5. Aruco Library

Repository Structure

Config

• 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.
• infra_optical_estimator.yaml - Configuration for infrared optical estimation.
• uwb_lqr_vanc_estimator.yaml - Configuration for UWB estimation.
• infra_optical_simulator.yaml - Configuration for the infrared optical simulator.
• uwb_simulator.yaml - Configuration for the UWB simulator.
• ugv_control.yaml - Configuration for the unmanned ground vehicle.

Launch

• 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.
• infra_optical_estimator.launch - Launch file for the infrared optical estimator.
• uwb_lqr_vanc_estimator.launch - Launch file for the UWB estimator.
• infra_optical_simulator.launch - Launch file for the infrared optical simulator.
• uwb_simulator.launch - Launch file for the UWB simulator.
• 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.
• mp_uav_landing_sim.launch - Main launch file for the UAV landing simulation.

Messages

• Intensity.msg - Message definition for infrared beacon light intensity.
• UWBRange.msg - Message definition for UWB range.

Scripts

Drone

• drone_fsm.py - Script for the drone finite state machine.
• landing_controller.py - Script for the landing controller.

Positioning

• aruco_estimator.py - Script for Aruco marker estimation.
• infra_optical_estimator.py - Script for infrared optical estimation.
• uwb_lqr_vanc_estimator.py - Script for UWB estimation.

Sensor Simulation

• infra_optical_simulator.py - Script for the infrared optical simulator.
• uwb_simulator.py - Script for the UWB simulator.

UGV

• ugv_control.py - Script for UGV control.

Worlds

• sim_windy_world/ - Gazebo world files for simulating windy conditions.
• sim_world/ - General Gazebo world files.

Simulation Details

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.
• Ultra-Wideband Technology: Uses and simulates UWB signals for accurate distance measurement and positioning.
• Infrared Optical Beacons: Uses and simulates infrared optical beacons to aid in precise positioning and landing of the UAV.

References

• 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.