Abstract
This project simulates the flight of hexacopters in indoor environments. Through the design, modeling, and implementation of environments, it imitates semi-structured environments with static obstacles, including a house, a church, and a supermarket. Each environment displays different levels of difficulty. The application offers a choice between two models of hexacopters, achieving more useful and interactive, and it includes the option of force feedback, implemented with a force feedback joystick, warning the user about possible collisions, and giving the feeling of presence to the operator. The haptic device limits the force applied. The application focuses on three-dimensional scenes in semi-structured indoor environments, reproducing the environment variables (appearance, features, context) of a real system; in this sense, the implementation of the simulator is a low-cost technique that offers several possible scenarios without effects in the real world.
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