Implementation of IR Lock on Poledrone (Polman Drone Education) for Precision Landing with ROS

Poledrone or known as quadcopter constitutes an Unmanned Aerial Vehicle (UAV) system that has four symmetrical landing rotors and has the same heights of each corner. Apart from that, Poledrone must have a good stability and be able to minimize distraction on every motion by optimizing the parameter of controller system. However, as a 6 DoF system, Poledrone has a dynamic complex with high non-linear, strong clutch and underactuated that makes it difficult to change into control algorithm. Poledrone with PID controller often suffers from overshoot causing it to be unstable which results is precision landing failure without any damage. By taking into account several strong points of PID methods, the researcher forms the implementation IR Lock with PID control on Poledrone by using ROS as the middleware. The result of result of test with IR Lock is the precision of the landing are good and the average of landing travel time is 11.073 s. But without IR-Lock The precision of the landing is quite good and the average of landing travel time is 5.84 s. This research is that the result can be used as learning aid in order to obtain accurate point more precision Poledrone landing system. So, for future work the research will combine camera with IR-Lock for making the result more accurate.