Tarımsal operasyonlar için işbirliğine dayalı bir insansız hava aracının geliştirilmesi

This study presented the design of a quadcopter unmanned aerial vehicle and its cooperative behavior with another ground vehicle. The first step was to determine the hardware and software requirements for the quadcopter. The quadcopter was modelled using a computer-aided design program, taking into account its software and hardware requirements to provide input for dynamic modelling. This three-dimensional model provides the information needed by the software, such as the quadcopter's center of gravity and moment of inertia. ZED mini camera, global positioning system, optical distance sensor and inertial measurement unit were used as sensors in the quadcopter. The velocity and position information obtained from the sensors was processed and utilized by the robot's operating system. The Extended Kalman Filter used to process sensor data was compared theoretically with the Kalman Filter and the reasons for its preference were explained. During the studies conducted via ROS, the MAVLink protocol was used to communicate with the Pixhawk autopilot, which controls the unmanned aerial vehicle. The selected filtering algorithms were tested in the simulation environment created on Gazebo and RViz. After the simulation, the testing phase began. The velocity and position data of the quadcopter were processed and sent to the site manager in the test area. The information was then used to simulate various scenarios.