Multi-Drone Simulation - MuJoCo

Requires MuJoCo 2.2.2 or later.

Overview

The files consist of simulations of drones in MuJoCo environments.
This package includes a simplified robot description (MJCF) of the Crazyflie 2 model from Bitcraze. It is derived from the publicly available ROS description.

Installation

The required packages are included in the Conda environment file. Use this command to create a Conda environment in your system:

conda env create -f environment.yml 

Package Descriptions

• 1_drones folder:

  • This folder contains a MuJoCo environment featuring a closed-loop PID controller that maintains a drone at a specified height.
  • You can modify the PID values and goal positions directly in the simulate1_v1.py file.
  • The simulate1_v1.py file allows the drone to move in the X, Y, and Z directions by defining the goal position in 3D space.
  • In contrast, the simulate1_v2.py file focuses solely on the Z-axis, enabling the drone to lift and maintain its position at the desired height while keeping its X and Y coordinates constant.

• 2_drones folder:

  • This folder contains the simulate2.py file, which simulates two drones positioned at either end of a slab, with a spherical object balanced in the center.
  • This setup is designed to mimic a cooperative multi-drone transport system.
  • Both drones receive a minimal fly-off thrust, which allows them to lift the slab while keeping the ball balanced in the middle.

• 3_drones folder:

  • This folder includes the simulate3.py file, which extends the cooperative transport simulation by utilizing three drones instead of two.
  • The setup mirrors the structure found in the 2_drones folder, adapting it for an additional drone to enhance collaborative transport capabilities.

• 4_drones folder:

  • This folder features the simulate4.py file, showcasing the cooperative transport simulation with four drones.
  • The setup builds upon the previous configurations, demonstrating how four drones can work together to achieve balanced transport of the slab and the spherical object.