title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸Ð¼Ð¸ÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð¿Ð¾ÑÐ°Ð´ÐºÐ¸ Ð¼ÑÐ»ÑÑÐ¸ÑÐ¾ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ° Ð½Ð° Ð´Ð²Ð¸Ð¶ÑÑÑÑÑÑ Ð¿Ð¾ÑÐ°Ð´Ð¾ÑÐ½ÑÑ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of a simulation model of autonomous landing of a multi-rotor unmanned aerial vehicle on a moving landing platform
Creators: name: ÐÐ½Ð¸ÐºÐ¸Ð½, ÐÐ¼Ð¸ÑÑÐ¸Ð¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð°Ñ Ð¿Ð¾ÑÐ°Ð´ÐºÐ°
ÐÐÐÐ
Ð¸Ð¼Ð¸ÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð¼ÑÐ»ÑÑÐ¸ÐºÐ¾Ð¿ÑÐµÑ
Ð¾ÑÐ½Ð¾ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾Ðµ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Gazebo
PX4
ROS
autonomous landing
multicopter
relative positioning
simulation modeling
UAV

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¸Ð¼Ð¸ÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð¿Ð¾ÑÐ°Ð´ÐºÐ¸ Ð¼ÑÐ»ÑÑÐ¸ÑÐ¾ÑÐ¾ÑÐ½ÑÑ Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½ÑÑ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ¾Ð² Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐ¼Ð¸ ÑÐ¿Ð¾ÑÐ¾Ð±Ð°Ð¼Ð¸ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð½Ð° Ð¿Ð¾Ð´Ð²Ð¸Ð¶Ð½ÑÑ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ» Ð¿ÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½ Ð¾ÑÐ±Ð¾Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ ÑÐ¿Ð¾ÑÐ¾Ð±Ð¾Ð² Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð»Ñ Ð¸Ð¼Ð¸ÑÐ°ÑÐ¸Ð¸, Ð¾Ð¿Ð¸ÑÐ°Ð½Ñ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¸ Ð¼ÐµÑÐ¾Ð´Ñ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ, Ð¾Ð¿Ð¸ÑÐ°Ð½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð½Ð° Ð±Ð°Ð·Ðµ ROS/Gazebo. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ Ð¿Ð¾ÑÐ°Ð´ÐºÐ¸ Ð¸ Ð²ÑÑÐ¾ÐºÐ¾ÑÑÐ¾Ð²Ð½ÐµÐ²ÑÐ¹ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑ Ð¿Ð¾ÑÐ°Ð´ÐºÐ¸ Ð½Ð° Ð±Ð°Ð·Ðµ Ð¿ÑÐ¾Ð¿Ð¾ÑÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½Ð¾-Ð¸Ð½ÑÐµÐ³ÑÐ°Ð»ÑÐ½Ð¾-Ð´Ð¸ÑÑÐµÑÐµÐ½ÑÐ¸ÑÑÑÑÐ¸Ñ Ð¸ Ð»Ð¾Ð³Ð¿Ð¾Ð»Ð¸Ð½Ð¾Ð¼Ð¸Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ°. ÐÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½Ð¾ Ð¸Ð¼Ð¸ÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ, Ð¿Ð¾ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¾ÑÐ¾Ð±ÑÐ°Ð½Ð¾ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿ÐµÑÑÐ¿ÐµÐºÑÐ¸Ð²Ð½Ð¾Ðµ ÑÐµÑÐµÐ½Ð¸Ðµ Ð¿Ð¾ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. Ð ÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð¾Ð³ÑÑ Ð±ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð´Ð»Ñ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð¸ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ ÑÐ¸ÑÑÐµÐ¼ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ Ð¿Ð¾ÑÐ°Ð´ÐºÐ¸ Ð½Ð° Ð¿Ð¾Ð´Ð²Ð¸Ð¶Ð½ÑÐµ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ.
description: This work is devoted to the development of a simulation system for autonomous landing of multirotor aircraft with various potential ways of positioning on a moving platform. In the course of the work, the selection of existing positioning methods for simulation was made, mathematical models and positioning methods were described, and the development of a modeling system based on ROS/Gazebo was described. A landing algorithm and a high-level landing controller based on proportional-integral-differentiating and log-polynomial controller have been developed. Simulation modeling was performed, according to the results of which the most promising positioning solution was selected. The results of the work can be used to test and implement autonomous landing systems on moving platforms.