Home
Welcome to the wiki of UAV_Sim_PyChrono
A PyChrono-Based High-Fidelity Simulator for UAVs
The scope of this simulator is to bridge the gap between control theory and its application to UAV control systems.
Multi-rotor UAVs, due to their relative simplicity and the simplicity of popular controllers for UAVs such as PID (proportional-integral-derivative), have been the focus for direct coding, testing, and tuning of control systems. However, as UAVs take on more complex missions—from last-mile delivery, exerting contact forces on surfaces, to transporting shared loads—the need for advanced control systems and rigorous testing grows.
Testing directly on hardware can be risky and inefficient. This simulator leverages the high-fidelity physics engine PyChrono to enable realistic simulation of UAV dynamics and control.
✨ Real-world success: We tuned a PID controller using this simulator and successfully transferred gains to a real UAV, achieving a stable first takeoff! Minimal additional tuning was required—a testament to the simulator's fidelity. This achievement enthused us and motivated us to invest in this long-term project.
The principal investigator of ACSL (Advanced Control Systems Lab) at Virginia Tech, Dr. L'Afflitto, champions the open sharing of research outcomes. Sometimes, peer-reviewed papers just aren't enough! This project is a step toward greater transparency and collaboration.
We hope the aerospace community and the controls community may find this project useful. Please:
- Upload new control systems
- Add features
- Share constructive feedback
Your contributions and insights are invaluable! Explore this wiki and the preloaded examples to get started.
Enjoy exploring UAV_Sim_PyChrono!
Let's elevate UAV research together.