ProVANT Simulator: A Virtual Unmanned Aerial Vehicle Platform for Control System Development

摘要

This paper introduces the ProVANT Simulator, a comprehensive environment for developing and validating control algorithms for Unmanned Aerial Vehicles (UAVs). Built on the Gazebo physics engine and integrated with the Robot Operating System (ROS), it enables reliable Software-in-the-Loop (SIL) and Hardware-in-the-Loop (HIL) testing. Addressing key challenges such as modeling complex multi-body dynamics, simulating disturbances, and supporting real-time implementation, the framework features a modular architecture, an intuitive graphical interface, and versatile capabilities for modeling, control, and hardware validation. Case studies demonstrate its effectiveness across various UAV configurations, including quadrotors, tilt-rotors, and unmanned aerial manipulators, highlighting its applications in aggressive maneuvers, load transportation, and trajectory tracking under disturbances. Serving both academic research and industrial development, the ProVANT Simulator reduces prototyping costs, development time, and associated risks.