INVESTIGADORES
MAS Ignacio Agustin
congresos y reuniones científicas
Título:
Open-source Multi-UAV Simulator for the ROS Environment
Autor/es:
IGNACIO MAS; SEBASTIAN CURI; RICARDO SANCHEZ PEÑA
Lugar:
Buenos Aires
Reunión:
Congreso; VIII Jornadas Argentinas de Robotica; 2014
Institución organizadora:
UTN Buenos Aires
Resumen:
This article presents an open-source simulator
for multiple Ar.Drone quadrotors that runs under the
ROS operating system. The simulator includes dynamic
models of the commercially available Parrot Ar.Drone
vehicles, and models of their onboard sensors with the
addition of a simulated GPS receiver. The system was
verified by the implementation of a 3-UAV formation
control architecture and results for a step response and
a trajectory following test are shown. The interface of
the simulator with the ROS environment is similar to
that of the open-source driver typically used to connect
through ROS with the real vehicles. This feature allows
for a seamless transition between simulation, hardware-in-the-loop
testing and full hardware experimentation.
