High-fidelity PyChrono-based Simulator

Introduction

The UAV_Sim_PyChrono is a high-fidelity PyChrono-based simulator designed for multi-rotor UAVs (Uncrewed Aerial Vehicles).

Outlook on the Control Architecture

Autonomous UAVs with collinear propellers are inherently under-actuated. For this reason, the software includes:

• Inner Loop: Handles the rotational dynamics.
• Outer Loop: Handles the translational dynamics.

Both loops are governed by nonlinear equations of motion.

Available Control Solutions

This software currently offers two control solutions for the inner and outer loops:

1. Continuous-Time Feedback-Linearizing Control Law combined with a PID (Proportional-Integral-Derivative) Control Law.
2. The above control law is augmented by a Robust Model Reference Adaptive Control (MRAC) System, incorporating a simplified quadratic-in-the-velocity aerodynamic model.

For further details on these control architectures, refer to the publications found here.

Future versions of the software will include additional control systems.

Maintenance Team

• Andrea L'Afflitto
• Mattia Gramuglia

For more information, visit acslstack.com.

Installation Instructions (Linux)

1. Open Visual Studio (VS) code
2. Navigate to 'File' -> 'Open Folder' -> select git repository
3. Open 'install' directory, then right click 'install_pychrono_linux.sh' -> 'Open in Integrated Terminal'
4. Run 'chmod +x install_pychrono_linux.sh' in terminal
5. Run './install_pychrono_linux.sh' in terminal
6. In termaial window, navigate to '...' -> 'Kill terminal' once Miniconda successfully installs
7. Right click 'install_pychrono_linux.sh' -> 'Open in Integrated Terminal' again
8. Rerun './install_pychrono_linux.sh'
9. Press 'Ctrl + Shift + P' and type 'Python: Select Interpreter' + Enter
10. Select 'chrono (3.10.18)'
11. Run main.py in VS code

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This software is distributed under a permissive 3-Clause BSD License.