The Modeling and Simulation of an Autonomous Quad-Rotor Microcopter in a Virtual Outdoor Scenario
Gyula Mester · 2011
This paper presents the modeling and simulation of an autonomous quad-rotor microcopter in a virtual outdoor scenario. The main contribution of this paper focuses on the development of a flight simulator to provide an advanced R/D tool suitable for control design and model evaluation of a quad-rotor systems to be used for control algorithm development and verification, before working with a real experimental system. The main aspects of modeling of rotorcraft kinematics and rigid body dynamics, spatial system localization and navigation in a virtual outdoor scenario are considered in the paper. Some high-level control aspects are considered, as well. Finally, several basic maneuvers (examples) are investigated and simulated in the paper to verify the simulation software capabilities and engineering capabilities.