The MAV3DSim hardware in the loop simulation platform for research and validation of UAV controllers

摘要

The design and testing of unmanned aerial vehicles is a difficult task due to the high risk of damage to property during testing, to prevent accidents from happening it is indeed necessary to perform extensive simulation of controllers to ensure good stability and performance. We have been working to solve this problem by developing a realistic simulator by using a complete mathematical model of the UAV including the external variables, so we present a Multi-Aerial Vehicle 3D Simulator (MAV3DSim) that will help to the validation and verification of new controllers in a safety way. It is multi-aerial because it has the possibility to simulate a variety of types of UAVs. The multiple display options of the MAV3DSim has been proven a significant help in the development of the controllers. A hardware in the loop (HIL) implementation is used in combination with the autopilot hardware used in the experimental platform.