SimTwo as a simulation environment for flight robot dynamics evaluation

Aerial Robots has become very popular in robotics groups. This ongoing interest is driven by a significant number of potential end-user applications where it is necessary to reduce human intervention. The validation of control/cooperation algorithms not always is an easy task and requires a large number of humans to keep tests safety. Is present in this paper the simulation of a quadrotor model in SimTwo simulation environment and evaluated the flight dynamic of the robot. To do that was developed a control layer responsible to the hovering maneuver and “go to” position function. The results prove that the objectives were achieved successfully and the simulation was validated. The navigation simulation is left as future work.

[1]  Oskar von Stryk,et al.  Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo , 2012, SIMPAR.

[2]  Antonio Franchi,et al.  SwarmSimX: Real-Time Simulation Environment for Multi-robot Systems , 2012, SIMPAR.

[3]  Tristan Perez,et al.  Kinematic Models for Manoeuvring and Seakeeping of Marine Vessels , 2007 .

[4]  José R. Álvarez,et al.  A Multi-robot Surveillance System Simulated in Gazebo , 2007, IWINAC.

[5]  Olivier Michel,et al.  Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation , 2004, ArXiv.

[6]  Stefano Carpin,et al.  USARSim: a robot simulator for research and education , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[7]  Section De Microtechnique,et al.  design and control of quadrotors with application to autonomous flying , 2007 .

[8]  Olivier Michel,et al.  Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation , 2004 .

[9]  Paulo Costa,et al.  SimTwo Realistic Simulator: A Tool for the Development and Validation of Robot Software , 2011 .

[10]  Yan Xu,et al.  GPS: Theory, Algorithms and Applications , 2003 .

[11]  Andrew Howard,et al.  Design and use paradigms for Gazebo, an open-source multi-robot simulator , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[12]  Mohinder S. Grewal,et al.  Global Positioning Systems, Inertial Navigation, and Integration , 2000 .

[13]  Guilherme Marques Amaral Silva.  Desenvolvimento e Controlo de um Veículo Autónomo Aéreo Quadrotor , 2009 .

[14]  Simon Lacroix,et al.  Simulating Complex Robotic Scenarios with MORSE , 2012, SIMPAR.

[15]  J. Trinkle,et al.  Controlling Shapes of Ensembles of Robots of Finite Size with Nonholonomic Constraints , 2009 .