Development of key modules of the control system of unmanned aerial vehicles in the Robot Operating System (ROS) environment

This paper discusses the integration of key components of an unmanned aerial vehicle (UAV) control system using the Robot Operating System (ROS). The analysis and implementation of the Kalman filter, dynamic system modulation (DSM), and the 3DVFH+ adaptive algorithm are included to provide accurate state estimation, adaptive control, and trajectory planning. The main focus is on integrating these components into a single robotic system, which contributes to improving the accuracy and safety of UAV control in dynamic conditions.