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Communication Dans Un Congrès Année : 2023

Ros-Gazebo Based Virtual PVTOL Experimental Platform to Validate Control Algorithms

E. Tzitzihua García
  • Fonction : Auteur
Anai Camacho Luna
  • Fonction : Auteur
David Lara Alabazares
  • Fonction : Auteur
Pedro Arguijo
  • Fonction : Auteur
Jérôme Bosque
  • Fonction : Auteur

Résumé

This paper presents the methodology to build a customized virtual experimental planar vertical takeoff and Landing (PVTOL) vehicle using ROS, which acts as a middleware between the user interface and the Gazebo simulator. CAD is used to create the virtual prototype, allowing the conversion to the simulation environment. The creation of ROS plugin, and implementation of control algorithms for validation of the simulation environment is addressed, where the classical PID control is used to test the realistic behavior of the platform in simulation. A comparison of results with Simulink- MATLAB, demonstrated using the Pearson correlation coefficient.
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Dates et versions

hal-04520428 , version 1 (25-03-2024)

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Citer

E. Tzitzihua García, Anai Camacho Luna, David Lara Alabazares, Pedro Arguijo, Abdelhamid Rabhi, et al.. Ros-Gazebo Based Virtual PVTOL Experimental Platform to Validate Control Algorithms. 2023 IEEE International Conference on Engineering Veracruz (ICEV), Oct 2023, Boca del Río, Veracruz, Mexico. pp.1-6, ⟨10.1109/ICEV59168.2023.10329715⟩. ⟨hal-04520428⟩

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