Team, Visitors, External Collaborators
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: New Software and Platforms


Simultion of UAV fleets with Gazebo/ROS

Keywords: Robotics - Simulation

Functional Description: The simulator includes the following functionality : 1) Simulation of the mechanical behavior of an Unmanned Aerial Vehicle : * Modeling of the body's aerodynamics with lift, drag and moment * Modeling of rotors' aerodynamics using the forces and moments' expressions from Philppe Martin's and Erwan Sala√ľn's 2010 IEEE Conference on Robotics and Automation paper "The True Role of Accelerometer Feedback in Quadrotor Control". 2) Gives groundtruth informations : * Positions in East-North-Up reference frame * Linear velocity in East-North-Up and Front-Left-Up reference frames * Linear acceleration in East-North-Up and Front-Left-Up reference frames * Orientation from East-North-Up reference frame to Front-Left-Up reference frame (Quaternions) * Angular velocity of Front-Left-Up reference frame expressed in Front-Left-Up reference frame. 3) Simulation of the following sensors : * Inertial Measurement Unit with 9DoF (Accelerometer + Gyroscope + Orientation) * Barometer using an ISA model for the troposphere (valid up to 11km above Mean Sea Level) * Magnetometer with the earth magnetic field declination * GPS Antenna with a geodesic map projection.

Release Functional Description: Initial version