A Simulation Framework for Developing Autonomous Drone Navigation Systems

Abstract

Unmanned aerial vehicles are gaining popularity in an ever-increasing range of applications, mainly because they are able to navigate autonomously. In this work, we describe a simulation framework that can help engineering students who are starting out in the field of aerial robotics to acquire the necessary competences and skills for the development of autonomous drone navigation systems. In our framework, drone behavior is defined in a graphical way, by means of very intuitive state machines, whereas low-level control details have been abstracted. We show how the framework can be used to develop a navigation system proposal according to the rules of the “ESII Drone Challenge” student competition. We also show how the proposal can be evaluated in different test scenarios.