一种基于GAZEBO的无人机仿真系统

An Unmanned Aerial Vehicle Simulation System Based on GAZEBO

摘要: 作为功能强大的无人机仿真平台，GAZEBO为无人机仿真构建了高度逼真的物理环境，还配备丰富的传感器模型。本文着重阐述一种基于GAZEBO仿真平台的无人机仿真系统，系统内部集成定位建图、路径规划和姿态控制三个核心算法模块。定位建图模块可以采用多元化的定位建图算法，确保无人机在复杂环境下的精准定位和建图；路径规划模块依托先进的路径规划算法，依据环境信息和任务需求，高效地生成平滑的全局和局部飞行路径；而姿态控制模块则根据所生成地路径实时调整无人机的飞行姿态，保障飞行的稳定性与准确性。最后，本文对该无人机仿真系统进行了飞行测试，验证了系统的可行性和稳定性。

Abstract: As a powerful unmanned aerial vehicle (UAV) simulation platform, GAZEBO constructs a highly realistic physical environment for UAV simulation and is also equipped with a rich variety of sensor models. This paper focuses on elaborating an UAV simulation system based on the GAZEBO simulation platform. The system integrally incorporates three core algorithm modules: localization and mapping, path planning, and attitude control. The localization and mapping module can adopt diversified localization and mapping algorithms to ensure the precise localization and mapping of the UAV in complex environments. The path planning module relies on advanced path planning algorithms, and based on environmental information and task requirements, it efficiently generates smooth global and local flight paths. The attitude control module, on the other hand, adjusts the flight attitude of the UAV in real time according to the generated paths, ensuring the stability and accuracy of the flight. Finally, this paper conducted a flight test on the UAV simulation system to verify the feasibility and stability of the system.