University of Twente Student Theses


Development of Gazebo-based high-fidelity simulation environment for morphing-wing UAVs

Nelissen, L.P.M. (2021) Development of Gazebo-based high-fidelity simulation environment for morphing-wing UAVs.

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Abstract:Flapping- and morphing-wing aerial robots are one of the emerging topics in the aerial robotics community. These types of aerial robots currently do not have sufficient control possibilities. The Portwings project aims to understand and model the forces that work on birds and their artificial counterparts. Using this understanding they will make a birdlike robot with never before seen control functionality. The aerodynamic support of high fidelity simulators like Gazebo is limited to fixed-wing and multi-rotor aerial robots. The first goal of this research is to document the software architecture, functionalities and limitations of the current aerodynamics implementation used in Gazebo. The second goal is to use the gained understanding to find extension possibilities for flapping- and morphing-wing support. During this research, file interaction and code analysis is used for the documentation of the current aerodynamics implementation. The problems found in this implementation are documented and discussed. It is concluded that the current implementation can not be used or extended for morphing wing support. It is recommended to use an external program and an API plugin or to convert a 20-sim model of the robot to C++ code, this code could then be edited to be a model plug-in.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
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