/Drone-visual-servoing-with-a-controller-in-MATLAB

This project uses Simulink to build vision-based controller for Gazebo simulation.

Primary LanguageC++GNU General Public License v3.0GPL-3.0

Drone-visual-servoing-with-a-controller-in-MATLAB

A ROS package to control a copter so that it follows ArUco patterns with the bottom camera. When using in Loiter mode, the system uses a controller in ROS. When the drone is in Guided mode, the system is connected to a controller in MATLAB/Simulink.

Video demo

Video demo

To do list

  • Test FOPD controller;
  • Add a PID controller to make a close loop;
  • Send data to Terminal and copy them to text file;
  • Add FOPD controller and log data;
  • Plot curve to compare the captured data.

Setup steps:

Please read this page: https://github.com/cnpcshangbo/Drone-visual-servoing-with-a-controller-in-MATLAB/wiki/Setting-up

Start the simulation

Please read this page: https://github.com/cnpcshangbo/Drone-visual-servoing-with-a-controller-in-MATLAB/wiki/Start-the-simulation

Support forums and chats

Please ask your questions not related to bugs/feauture requests on:

References:

YouTube video