Creating a distributed development environment for unmanned aerial vehicles using USARSim
Sebastian Drews, Sven Lange, Peter Protzel · Common Library Network (Der Gemeinsame Bibliotheksverbund) · 2010
In this paper we discuss our efforts to create a dedicated simulation environment around USARSim for our autonomous mobile sensor platform "skeye-Copter".The platform is based on a multirotor aerial vehicle -a so-called quadrocopter.Our work includes the development of a transparent software interface between the simulation and already existing software modules which allows the transition of algorithms between both -the simulated and the real robot.Furthermore, we compare and evaluate the applicability of the robot simulation to design and develop image processing based controls.In particular, we validate an approach for landing and position control of an autonomous multirotor aerial vehicle using the simulation environment.