ARGoS向けCrazyflieドローンのプラグイン
An ARGoS plug-in for the Crazyflie drone
群ロボットシミュレータARGoSにCrazyflieドローンのモデルを追加するオープンソースプラグインを開発し、実機データと比較して精度を検証した。
著者: Daniel H. Stolfi, Grégoire Danoy
分類: cs.RO
原文アブストラクト
We present a new plug-in for the ARGoS swarm robotic simulator to implement the Crazyflie drone, including its controllers, sensors, and some expansion decks. We have based our development on the former Spiri drone, upgrading the position controller, adding a new speed controller, LED ring, onboard camera, and battery discharge model. We have compared this new plug-in in terms of accuracy and efficiency with data obtained from real Crazyflie drones. All our experiments showed that the proposed plug-in worked well, presenting high levels of accuracy. We believe that this is an important contribution to robot simulations which will extend ARGoS capabilities through the use of our proposed, open-source plug-in.
