Publication

Abstract : In the recent year, Unmanned Aerial Vehicles (UAV) which are generally called Drones or Quadcopters have gained a lot of attention towards researches and companies because of their wide range of capabilities in different sectors such as in military and public. The PID control algorithm which runs in the ROS environment controls the 3-D modelled quadcopter in Gazebo. The main focus is to make the quadcopter stable and to hover at the desired point in Gazebo by tuning PID values in the ROS environment. A plot juggler has been used to obtain the trajectory analysis and to analyse the tuning errors by the trial and error method for each quadcopter motion such as roll, pitch and altitude. Through this framework, certain parameters of the drone are obtained such as settling and rise time with PID tuning.