DocumentCode :
3737462
Title :
A high fidelity simulator for a quadrotor UAV using ROS and Gazebo
Author :
Mengmi Zhang;Hailong Qin;Menglu Lan;Jiaxin Lin;Shuai Wang;Kaijun Liu;Feng Lin;Ben M. Chen
Author_Institution :
Department of Electrical and Computer Engineering, National University of Singapore, 117576 Singapore
fYear :
2015
Firstpage :
2846
Lastpage :
2851
Abstract :
Flight tests of prototype UAV systems can be restricted by spatial constraints and they may bring risks of damage due to failures. Motivated by these, we presented a simulation approach based on Robot Operating System (ROS) and Gazebo. Unlike other state-of-the-art quadrotor simulators, we implemented the dynamics model of the UAV in ROS to achieve high fidelity behavior of the UAV. A hierarchical navigation system is also presented in our paper. The system layers include simultaneous localization and mapping (SLAM), mapping framework in Cartesian and polar coordinates, A* global path planner, revised vector field histogram plus (VFH+) for optimal local path selection and online trajectory algorithm (OTA) with collision checking for obstacle avoidance. In order to cater for vision-based applications, quadrotor is equipped with a monocular camera in the simulation model. The implementation of circle and landing pad detection and tracking algorithm demonstrates the functionality of vision guidance. In our simulation, various aspects including complex indoor and outdoor environments and on-board sensors are capable of simultaneously interacting with our navigation system to achieve certain surveillance missions. In the end, we demonstrated the applicability of our complex quadrotor systems by performing an autonomous navigation task in simulated complex environments. In comparison with the experimental data, simulation results align with the ones in flight tests in terms of real flight behaviors during navigation tasks in general.
Keywords :
"Navigation","Vehicle dynamics","Mathematical model","Vehicles","Robot sensing systems"
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, IECON 2015 - 41st Annual Conference of the IEEE
Type :
conf
DOI :
10.1109/IECON.2015.7392534
Filename :
7392534
Link To Document :
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