Environment for the dynamic simulation of ros-based UAVs

Abstract

The aim of this chapter is to explain how to use the Virtual Robot Experimentation Platform (V-REP) simulation software with the Robot Operating System (ROS) to create and collect signals and control a generic multirotor unmanned aerial vehicle (UAV) in a simulation scene. This tutorial explains all the steps needed to select an UAV model, assemble and configure the propellers, configure the dynamic parameters, add sensors, and finally simulate the scene. The final part of the chapter presents an example of how to use MATLAB to create control scripts using ROS and also collect data from sensors such as accelerometers, gyroscopes, GPS, and laser scanners.