A comprehensive simulation testbench for aerial robot in dynamic scenario using gazebo-ros

Aerial Robot is a new category of intelligent flying machines, which combines smart aerial platform with powerful sensoring and computation capability. Due to the high uncertainty and risk exiting in flight test, simulation is important in the development process. In this paper, we propose a simulation platform with dynamic scenario, based on the Robot Operating System (ROS) and Gazebo. Multiple moving targets and obstacles are installed, while vision and laser sensor are activated as navigation setup.