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Comparative Analysis of Development Environments for UAV Software Development
(2025) Budilova, Sofiia; Kurochkin, Andrew
Unmanned aerial vehicles are in demand nowadays due to their ability to perform various tasks, both military and civilian, without the involvement of humans. The UAV simulators (UAV algorithm development environments) have a great value at the present day since they present a way to test all the new UAV algorithms that are spreading more and more finding real-world applications across various disciplines. A plethora of simulators already exist. All of them have their own advantages and disadvantages. This presents difficulties for developers to opt for the most suitable one to meet their requirements. This paper reviews the most popular UAV simulators. It also provides statistics regarding the amount of papers in general and throughout the years related to simulators and also to flight control software (e.g., ArduPilot). This provides the opportunity to observe tendencies in UAV simulation technologies. Subsequently, research was conducted to analyze scenes (usually called worlds) of the most popular and robust simulator, namely Gazebo, that are available open-source online. тA list of them is provided in this thesis. Eventually, a research gap was found, namely a shortage of Gazebo worlds containing moving objects. A new world with a moving car was created and might be used, for example, for the testing of the UAV object-tracking algorithms.