Första steget mot en digital tvilling: Utvärdering av en drönarsimulator

The research presented in this paper examines the accuracy of a drone simulation model based on the Crazyflie 2.1, using the Cyberbotics Webots simulation software, by comparing the drone’s behavior across a series of controlled flight tasks. These tasks include hovering, waypoint navigation, obstacle avoidance, battery consumption, yaw maneuvers, and changes in propeller size. The test results showed that the simulator successfully completed and replicated a majority of the basic flight behaviors it was programmed to perform. However, it also revealed some significant differences in the hover stability, sensor accuracy, and energy consumption modeling. For instance, it was measured to be a 0.7-meter difference in position drift between the simulated and real drone. These discrepancies were mainly caused by the simulator’s lack of realistic environmental disturbances. The study highlights these limitations in the current Webots model and suggests that improving factors such as the sensor noise in the simulator, as well as developing a shared control library for both Crazyflie drones, would benefit and enhance the accuracy of the current Webot simulator greatly. Making the simulation more representative of real-world conditions and more useful for drone development, testing, and future digital twin applications.