ROS-based SLAM and Navigation for a Gazebo-Simulated Autonomous Quadrotor

Alborzi, Yusef; Jalal, Bawar; Najafi, Esmaeil

doi:10.1109/rem49740.2020.9313875

Cited by 14 publications

(6 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Scientific papers can be directed toward diverse applications of sensor modeling, such as medical diagnostics [26], autonomous navigation [17], [27], and more.…”

Section: Distinctionsmentioning

confidence: 99%

On sensor modeling in Gazebo simulator

Yuldashev,

Dobrokvashina,

Lavrenov

2024

Proceedings of International Conference on Artificial Life and Robotics

View full text Add to dashboard Cite

Sensor modeling in the Gazebo simulator is fundamental to robotics advancement. This review explores sensor modeling intricacies, methodologies, and applications, while emphasizing a critical role of a precise sensor modeling. Application scenarios demonstrate a sensor modeling's broad utility across fields including medical diagnostics, autonomous navigation, and industrial automation. Differences in research focus, methodology, and implementation underline a varied nature of sensor modeling studies. Key challenges include a need for more detailed world models. The paper guides a research in sensor modeling and identifies crucial questions.

show abstract

“…Scientific papers can be directed toward diverse applications of sensor modeling, such as medical diagnostics [26], autonomous navigation [17], [27], and more.…”

Section: Distinctionsmentioning

confidence: 99%

On sensor modeling in Gazebo simulator

Yuldashev,

Dobrokvashina,

Lavrenov

2024

Proceedings of International Conference on Artificial Life and Robotics

View full text Add to dashboard Cite

show abstract

“…7 shows a successful instance of the A* path planning algorithm for an arbitrary goal pose in the simulated environment. Permission to reuse figures 5, 6 and 7 from the preliminary version of our work in 11 has been obtained from the publisher under the IEEE license number 5246641444156.…”

Section: Quadrotor Mapping and Navigationmentioning

confidence: 99%

“…The control and navigation system is implemented and tested in a simulated environment using the robot operating system (ROS) and Gazebo. A preliminary version of this work has been already published in 11 . The paper is organized as follows.…”

Section: Introductionmentioning

confidence: 99%

Automated Wheat Disease Detection Using A ROS-Based Autonomous Guided UAV

Behzad

Alborzi

Najafi

2022

Preprint

View full text Add to dashboard Cite

With the increase in world population, food resources have to be modified to be more productive, resistive, and reliable. Wheat is one of the most important food resources in the world, mainly because of the variety of wheat-based products. Wheat crops are threatened by three main types of diseases which cause large amounts of annual damage in crop yield. These diseases can be eliminated by using pesticides at the right time. While the task of manually spraying pesticides is burdensome and expensive, agricultural robotics can aid farmers by increasing the speed and decreasing the amount of chemicals. In this work, a smart autonomous system has been implemented on an unmanned aerial vehicle to automate the task of monitoring wheat fields. First, an image-based deep learning approach is used to detect and classify disease-infected wheat plants. To find the most optimal method, different approaches have been studied. Because of the lack of a public wheat-disease dataset, a custom dataset has been created and labeled. Second, an efficient mapping and navigation system is presented using a simulation in the robot operating system and Gazebo environments. A 2D simultaneous localization and mapping algorithm is used for mapping the workspace autonomously with the help of a frontier-based exploration method.

show abstract

“…Pixhawk can be used in conjunction with simulation software, such as Gazebo, to create a HIL system. [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

“…In particular, this software contains the open dynamics engine (ODE), which can present a system model robot with high accuracy in real-time conditions. ODE can provide real-time dynamical simulations and the corresponding sensor readings for the UAVs [18,19].…”

Section: Introductionmentioning

confidence: 99%

Hardware-In-the-Loop Simulation of Time-Delayed Anti-Swing Controller for Quadrotor with Suspended Load

Omar

2022

Applied Sciences

View full text Add to dashboard Cite

Quadrotor flying vehicles with suspended loads have a lot of applications, such as mine detection and transferring loads for delivery, or through places where ground vehicles cannot reach. In these applications, the payload will be suspended underneath the vehicle and it is subjected to large oscillations due to external disturbances or the acceleration of the vehicle itself. These oscillations add additional forces and moments to the quadrotor, and this deteriorates its performance and stability. In this paper, we developed a hardware-in-the-loop (HIL) simulation platform for a quadrotor with a suspended load system using Gazebo. The developed platform can be used to understand the dynamics of the system and design control systems to suppress the oscillation of the suspended load. An anti-swing controller that is based on time-delayed feedback of the load swing angles is implemented in the designed HIL environment to show the usefulness of the newly developed system and the effectiveness of the anti-swing controller.

show abstract

ROS-based SLAM and Navigation for a Gazebo-Simulated Autonomous Quadrotor

Cited by 14 publications

References 23 publications

On sensor modeling in Gazebo simulator

On sensor modeling in Gazebo simulator

Automated Wheat Disease Detection Using A ROS-Based Autonomous Guided UAV

Hardware-In-the-Loop Simulation of Time-Delayed Anti-Swing Controller for Quadrotor with Suspended Load

Contact Info

Product

Resources

About