Effects-Level Models for UAV Simulation

The development of multiple-UAV control algorithms is an iterative process that can be aided greatly by simulation-based analysis. This paper outlines the development of a kinematics-based vehicle model coupled with a simple autopilot and basic sensor model that, together, provide effects-level modeling for UAV studies. Results of the models performing in a simulation are presented. Finally, an example is shown that applies the above models in a single integrated multiple-UAV simulation environment.