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Quadrotor Trajectory Tracking and Simultaneous Localization and Mapping Implementation in CoppeliaSim
https://orcid.org/http://orcid.org/0000-0001-7953-5144
This study focuses on implementing trajectory tracking control and Simultaneous Localization and Mapping (SLAM) simulation for a quadrotor using CoppeliaSim and MATLAB. Initially, a dynamic model of the quadrotor and a laser sensor model were developed in CoppeliaSim. Communication with CoppeliaSim was established through MATLAB, enabling precise trajectory tracking control of the quadrotor. In addition, onboard LiDAR data were used to construct an environmental map, and the autonomous navigation capabilities of the quadrotor in an known environment were evaluated. The simulation results demonstrate the effectiveness and applicability of the proposed method, showing that accurate positioning and trajectory tracking in complex environments were achieved by the designed system. Thus, this research provides an efficient and reliable solution for autonomous navigation and environmental perception of quadrotors and offers a new approach for SLAM algorithm development through virtual simulation, showcasing significant practical application value.
Quadrotor Trajectory Tracking and Simultaneous Localization and Mapping Implementation in CoppeliaSim
https://orcid.org/http://orcid.org/0000-0001-7953-5144
This study focuses on implementing trajectory tracking control and Simultaneous Localization and Mapping (SLAM) simulation for a quadrotor using CoppeliaSim and MATLAB. Initially, a dynamic model of the quadrotor and a laser sensor model were developed in CoppeliaSim. Communication with CoppeliaSim was established through MATLAB, enabling precise trajectory tracking control of the quadrotor. In addition, onboard LiDAR data were used to construct an environmental map, and the autonomous navigation capabilities of the quadrotor in an known environment were evaluated. The simulation results demonstrate the effectiveness and applicability of the proposed method, showing that accurate positioning and trajectory tracking in complex environments were achieved by the designed system. Thus, this research provides an efficient and reliable solution for autonomous navigation and environmental perception of quadrotors and offers a new approach for SLAM algorithm development through virtual simulation, showcasing significant practical application value.
Quadrotor Trajectory Tracking and Simultaneous Localization and Mapping Implementation in CoppeliaSim
https://orcid.org/http://orcid.org/0000-0001-7953-5144
This study focuses on implementing trajectory tracking control and Simultaneous Localization and Mapping (SLAM) simulation for a quadrotor using CoppeliaSim and MATLAB. Initially, a dynamic model of the quadrotor and a laser sensor model were developed in CoppeliaSim. Communication with CoppeliaSim was established through MATLAB, enabling precise trajectory tracking control of the quadrotor. In addition, onboard LiDAR data were used to construct an environmental map, and the autonomous navigation capabilities of the quadrotor in an known environment were evaluated. The simulation results demonstrate the effectiveness and applicability of the proposed method, showing that accurate positioning and trajectory tracking in complex environments were achieved by the designed system. Thus, this research provides an efficient and reliable solution for autonomous navigation and environmental perception of quadrotors and offers a new approach for SLAM algorithm development through virtual simulation, showcasing significant practical application value.
Quadrotor Trajectory Tracking and Simultaneous Localization and Mapping Implementation in CoppeliaSim
J. Inst. Eng. India Ser. C
Liu, Chao (author)
Journal of The Institution of Engineers (India): Series C ; 106 ; 529-540
2025-02-01
12 pages
Article (Journal)
Electronic Resource
English
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