My simulations currently exist primarily as Gazebo programs interfaced with SITL (Software in the Loop). This allows our Quadcopter simulation to interact with a physical environment, which is something that SITL lacks when used on its own. It is also useful as a more intuitive visualization of the quadcopter's predicted behavior.
What sets my simulations apart from other tutorials that exist online (beyond being designed to prove our BRECCIA system), is that they take place in an environment closely resembling the University of Utah campus.
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| University of Utah Campus in Gazebo |
The goal of my simulations is to provide as realistic an environment as possible to use when testing BRECCIA's decision making abilities before using it on a real quadcopter. Therefore, it was prudent to try and recreate the elevation of real buildings and obstacles that are normally found in an urban environment. I was unable to find a suitable tutorial or repository that does exactly what I did, and so I believe that it is my responsibility to share this knowledge with others that might want to do the same.
I imagine that future research students under Dr. Tom Henderson will be the people that find this blog most useful, but I hope to explain my research clearly enough that any other hobbyists or researchers can replicate or modify my work.
I wish I could thank all of the sites and people that have contributed to this project, but there are way too many of them to include them all here. So, I will attach links to useful tutorials and websites that helped me as I write my guides.
If any readers have a question, please feel free to contact me via email and I can try to help.
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