June 2018
Intermediate to advanced
484 pages
11h 36m
English
Content preview from Robot Operating System Cookbook
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A generic mathematical model of an MAV/drone
In this section, we will discuss the mathematical concepts needed to understand the kinematic and dynamic model of MAVs that is used in simulator design. Throughout this chapter, we refer to MAVs as multirotor quadcopters, but the concepts can be applied to other vehicles to. One important concept will be the kinematics and dynamics of an MAV, which allow us to develop control strategies on different command levels such as attitude or position and orientation. In addition, we will also discuss the state estimation of a quadcopter, which will be used for higher-level tasks such as path planning or local collision avoidance.