O'Reilly logo

Robot Operating System Cookbook by Kumar Bipin

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

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.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required