Swarm of Quadcopters Position control in ROS Gazebo Simulator
Satyabrata Sahu, Alok Kanti Deb · 2023
Swarm of quadcopters have many applications in civil and military purposes such as patrol, surveillance, search & rescue, transportation, operation in hazardous environment, support in agriculture, drone delivery, navigation and mapping etc. In a test range scenario, these can be used as aerial tracking sensor platforms and aerial targets. Simulation analysis is required before actual hardware flying to avoid damage to the platform. In this study, simulation of quadrotor is carried out in a 3D simulator and validated with MATLAB/Simulink model. Cascade controller having inner attitude loop and outer position loop is applied for position control of the quadcopter. A novel position controller based on Fuzzy Padé approximation was proposed and its stability was analyzed. Then controllers were implemented on the Quadrotor model and swarm movement of quadcopters was achieved in ROS Gazebo platform.