Simulation-Driven Development of Autonomous UAVs Using MATLAB

Because of their multidisciplinary nature, autonomous unmanned aerial vehicles (UAVs) can effectively be developed using simulation-driven methodologies. Visvesvaraya National Institute of Technology Nagpur has adopted a structured workflow using MATLAB^®, Simulink^®, UAV Toolbox™, and Unreal Engine^® to model, simulate, test, and deploy UAVs in a safe and efficient manner.

Dynamic models for multirotor, fixed-wing VTOL UAVs have been configured using Simulink and UAV Toolbox, incorporating six degrees of freedom, actuator dynamics, and sensor blocks such as GPS, IMU, and cameras. Inner-loop and outer-loop controllers have been designed and tuned, and high-level mission logic has been implemented using Stateflow^®. Estimation and sensor fusion have been carried out using extended Kalman filters.

Realistic scenario simulation has been performed by integrating Unreal Engine with Simulink, enabling closed-loop testing in photorealistic 3D environments. Conditions such as urban navigation, obstacle avoidance, and weather effects have been evaluated using synthetic sensor feedback. Following virtual validation, control algorithms have been deployed to PX4-based flight controllers using Embedded Coder^®. Hardware-in-the-loop testing has been carried out for real-time verification.

Postflight data has been analyzed using the Flight Log Analyzer to compare simulation and real-world behavior, leading to further model refinement. Case studies involving last-mile delivery and vision-based landing have demonstrated strong correlation between simulation and actual performance.

This workflow has enabled reduced development cycles, improved reliability, and provided safer validation of autonomous UAVs. Its adoption is recommended for academic research and industrial applications alike.