6533b871fe1ef96bd12d1104
RESEARCH PRODUCT
ROS/Gazebo-Based Simulation of Quadcopter Aircrafts
Claudio SciortinoAdriano Fagiolinisubject
QuadcopterObserver (quantum physics)Computer sciencebusiness.industryRenewable Energy Sustainability and the EnvironmentNonlinear controlEnergy Engineering and Power TechnologyRoboticsComputer Science Applications1707 Computer Vision and Pattern RecognitionROS/GazeboNonlinear controlquad-copterDroneIndustrial and Manufacturing EngineeringRoboticComputer Networks and CommunicationControl theoryArtificial IntelligenceTrajectoryArtificial intelligenceState observerbusinessInstrumentationdescription
The main purpose of this work is to present a tutorial description on how to design and develop an observer, which is capable of estimating the position and the orientation of a drone commanded by a controller, whose shape and structure are unknown. Starting from Newton's and Euler's laws, a mathematical model describing the dynamics of a quadcopter has first been obtained. By linearizing this model it is possible to implement a Luenberger observer and validate it with simulations in a Linux environment, thanks to the use of the Ardupilot controller and the Gazebo simulator. Finally, starting from the results obtained from the simulation, it is possible to evaluate the error made in the estimation by observer and reconstruct the trajectory traveled by the drone during the simulation.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2018-09-01 |