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

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.