Review of Multi-rotor Unmanned Aerial Vehicle Simulation Platform

The continuous integration of artificial intelligence and robotics technology has facilitated the widespread adoption of multi-rotor Unmanned Aerial Vehicles (UAVs) across various fields, demonstrating their flexibility and efficiency. However, when developing and validating flight control algorithms or solutions for multi-rotor UAVs, researchers face high costs and significant risks. To mitigate these risks and enhance the efficiency of algorithm testing and optimization, simulation platforms for multi-rotor UAVs provide a safe and controlled environment. In this regard, this paper first introduces conventional models of multi-rotor UAVs, selecting the commonly used quadrotor as the representative model. It then elaborates on dynamic models according to different levels of simulation. Subsequently, it provides an overview of the conventional system framework of multi-rotor UAV simulation platforms and discusses their evaluation methods and classification approaches. The evaluation of simulation platforms is detailed from the perspectives of function and performance. multi-rotor UAVs are classified based on whether they support an interactive learning environment and their focus areas: dynamics, sensors, and multi-UAV coordination. This paper also reviews the main solutions for existing UAV flight missions, analyzing typical multi-rotor UAV simulation platforms within the context of traditional and learning-based methods. Finally, the paper outlines future directions for multi-rotor UAV simulation platforms.