UAV Precision Landing with ROS, Gazebo and Ardupilot – GNSS Navigation Obstacle Avoidance (2/4)
This video demonstrates a complete UAV precision landing simulation in a 3D Gazebo environment, using the ArduPilot flight controller and the MAVROS interface with ROS. The landing process is divided into two main phases: initial navigation using GNSS and final descent based on computer vision, with detection of visual markers (colored triangles and a central ArUco marker).
A PID controller is responsible for adjusting the UAV’s trajectory by continuously correcting the positional and orientation errors, ensuring smooth and accurate landings even under challenging conditions.
The UAV follows a two-step logic based on its initial altitude relative to Point P (located 3 meters above the landing platform):
Case 1 – If the UAV starts below Point P, it first climbs vertically to reach the target altitude, then moves horizontally toward the coordinates;
Case 2 – If it starts above Point P, it moves horizontally first, and only then descends vertically to the desired height.
This strategy avoids risky diagonal trajectories and reduces the chance of collisions with potential obstacles.
🧠 Technologies used:
ROS (Robot Operating System)
Gazebo + ardupilot_gazebo plugin
ArduPilot (Copter firmware)
MAVROS (MAVLink interface)
Computer vision with OpenCV & ArUco
Data analysis with PlotJuggler
Real-time monitoring with QGroundControl
📩 Contact me by:
email – tomas.gomes2001@gmail.com
LinkedIn – linkedin.com/in/tomassgomess
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