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Comprehensive Simulation of Quadrotor UAVs using ROS and Gazebo

Meyer, Johannes and Sendobry, Alexander and Kohlbrecher, Stefan and Klingauf, Uwe and Stryk, Oskar von (2012):
Comprehensive Simulation of Quadrotor UAVs using ROS and Gazebo.
In: Simulation, Modeling, and Programming for Autonomous Robots, Berlin, Heidelberg, Springer, In: 3rd Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Tsukuba, Japan, In: Lecture Notes in Computer Science, DOI: 10.1007/978-3-642-34327-8_36, [Conference or Workshop Item]

Abstract

Quadrotor UAVs have successfully been used both in research and for commercial applications in recent years and there has been significant progress in the design of robust control software and hardware. Nevertheless, testing of prototype UAV systems still means risk of damage due to failures. Motivated by this, a system for the comprehensive simulation of quadrotor UAVs is presented in this paper. Unlike existing solutions, the presented system is integrated with ROS and the Gazebo simulator. This comprehensive approach allows simultaneous simulation of diverse aspects such as flight dynamics, onboard sensors like IMUs, external imaging sensors and complex environments. The dynamics model of the quadrotor has been parameterized using wind tunnel tests and validated by a comparison of simulated and real flight data. The applicability for simulation of complex UAV systems is demonstrated using LIDAR-based and visual SLAM approaches available as open source software.

Item Type: Conference or Workshop Item
Erschienen: 2012
Creators: Meyer, Johannes and Sendobry, Alexander and Kohlbrecher, Stefan and Klingauf, Uwe and Stryk, Oskar von
Title: Comprehensive Simulation of Quadrotor UAVs using ROS and Gazebo
Language: English
Abstract:

Quadrotor UAVs have successfully been used both in research and for commercial applications in recent years and there has been significant progress in the design of robust control software and hardware. Nevertheless, testing of prototype UAV systems still means risk of damage due to failures. Motivated by this, a system for the comprehensive simulation of quadrotor UAVs is presented in this paper. Unlike existing solutions, the presented system is integrated with ROS and the Gazebo simulator. This comprehensive approach allows simultaneous simulation of diverse aspects such as flight dynamics, onboard sensors like IMUs, external imaging sensors and complex environments. The dynamics model of the quadrotor has been parameterized using wind tunnel tests and validated by a comparison of simulated and real flight data. The applicability for simulation of complex UAV systems is demonstrated using LIDAR-based and visual SLAM approaches available as open source software.

Title of Book: Simulation, Modeling, and Programming for Autonomous Robots
Series Name: Lecture Notes in Computer Science
Volume: 7628
Place of Publication: Berlin, Heidelberg
Publisher: Springer
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Flight Systems and Automatic Control (FSR)
20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: 3rd Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)
Event Location: Tsukuba, Japan
Date Deposited: 21 Dec 2018 11:13
DOI: 10.1007/978-3-642-34327-8_36
Additional Information:

Print ISBN 978-3-642-34326-1 Online ISBN 978-3-642-34327-8

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