3.1.1. Engine Dynamics Modeling and Simulation for a Type of UAV and UGV

The rigid body appearance, physical properties, joint types and other aspects of the unmanned platform are described through URDF files. The motion of the unmanned platform model in the ROS environment can be viewed through Gazebo. Its position in Gazebo is taken as the true value of the pose of the unmanned platform. hybrid A\* algorithm to UGV is applied to realize the path planning, and TEB algorithm to realize trajectory tracking. The UAV adopts a four-rotor model, using the quadrotor dynamics to design the control algorithm, and the Euler method and fourth-order Runge-Kutta method to integrate the UAV dynamics equation.
