| Abstract [eng] |
This thesis investigates the task of unmanned aerial vehicle landing to the marked landing spot, using the ROS robotic framework and AR.Drone quadcopter platform. This document reviews the AR.Drone quadcopter and quadcopter flying principles. In particular, the ROS framework, its components and used terminology are overviewed. This paper also reviews the fiducial marker detection framework ar_pose, since this framework will be used for UAV landing spot detection. The Gazebo simulation environment is introduced because this tool will be used for initial task research. Moreover, this document presents the software that was created to solve the given task of landing a drone on a fiducial marker. Finally, this thesis presents research on how drone landing control module maneuvers aggressiveness levels impact the drone landing time and overall task success. |
