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

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:

• Erle Robotics Forum

References:

• Erle Robotics

• YouTube video for Simulating the package

• Learn how to make this work on Gazebo simulator.

• ros_erle_pattern_follower project

• Get started with ROS in Simulink

• Custom message type in MATLAB