To design algorithms for quadcopters missions for student competitions, Julien Cassette joins Connell D'Souza to demonstrate the use of simulation. Simulation is a cost-effective tool to begin prototyping and designing controllers and algorithms.
A simulation model consists of three parts, a plant model of the quadcopter, a controller, and an environment. Julien uses Gazebo to model the plant and the environment and Simulink® to design the controller. Robotics System Toolbox™ provides an interface between MATLAB® and Simulink and the Robotics Operating System (ROS). The controller in Simulink sends velocity commands to the plant model in Gazebo via ROS messages.
Gazebo is an open source physics engine that provides a realistic rendering of environments that can be customized along with sensor models that are required to simulate robotic operations. You can learn more about Gazebo’s features and see tutorials for getting started by visiting the Gazebo web page.
Download all the files in this demo from MATLAB Central File Exchange.
Two new products were introduced in R2019b to complement the capabilities of Robotics System Toolbox™: Navigation Toolbox™ and ROS Toolbox™.
