This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has helped us rapidly implement and test different controllers ranging from Hybrid Force-Position Controllers to advanced Model Predictive Path Integrals and has allowed us to analyze the design and behavior of different fully-actuated UAVs. We used the simulator to enable real-world deployments of our fully-actuated UAV fleet for different applications. The simulator is further extended to support the physical interaction of UAVs with their environment and allow more UAV designs, such as hybrid VTOLs. The code for the simulator can be accessed from https://github.com/keipour/aircraft-simulator-matlab.

翻译：本研讨会论文介绍了我们在全驱无人机研究中遇到的仿真挑战以及为克服这些挑战所开发的解决方案。我们描述了ARCAD仿真器，该仿真器帮助我们快速实现并测试从混合力-位控制器到先进模型预测路径积分等不同控制器，同时使我们能够分析不同全驱动无人机的设计与行为。我们利用该仿真器实现了全驱动无人机机队在不同实际应用场景中的部署。该仿真器进一步扩展以支持无人机与环境的物理交互，并允许更多无人机设计（例如混合垂直起降飞行器）。仿真器代码可通过https://github.com/keipour/aircraft-simulator-matlab获取。