# Modeling and Simulation of the Quadrtor Delivery System

## TL;DR

This paper presents a comprehensive modeling and simulation framework for a quadrotor delivery system, integrating camera and IMU data, with design, mathematical modeling, and experimental validation using MATLAB and EKF-SLAM.

## Contribution

It introduces a novel quadrotor delivery system with integrated sensors, detailed design specifications, and simulation-based validation, including a new application of EKF-SLAM for localization.

## Key findings

- Successful simulation of the quadrotor system in MATLAB
- Effective use of EKF-SLAM for localization and mapping
- Implementation of candy edge detection for system validation

## Abstract

Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad system that integrates data from the camera and IMU (Inertial Measurement Unit) to allow high -resolution optical transmission. In this paper, a separate quad system was proposed. The system specification is specified. The system application introduced the SolidWorks design of the system, the mathematical modeling of the pickup and delivery (PDP) problem. The simulation results using MATLB for model implementation and the simultaneous localization and mapp ing (SLAM) were presented using the Extended Kalman (EKF-SLAM) filter algorithm used to make the system independent. Experimental results were introduced to use the candy edge detection algorithm.

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Source: https://tomesphere.com/paper/1907.03716