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Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform
- Source :
- Proceedings of 2020 International Conference on Guidance Navigation and Control, ICGNC 2020, Tianjin, China, October 23-25, 2020
- Publication Year :
- 2020
-
Abstract
- In this paper, a hierarchical multi-UAV simulation platform,called XTDrone, is designed for UAV swarms, which is completely open-source 4 . There are six layers in XTDrone: communication, simulator,low-level control, high-level control, coordination, and human interac-tion layers. XTDrone has three advantages. Firstly, the simulation speedcan be adjusted to match the computer performance, based on the lock-step mode. Thus, the simulations can be conducted on a work stationor on a personal laptop, for different purposes. Secondly, a simplifiedsimulator is also developed which enables quick algorithm designing sothat the approximated behavior of UAV swarms can be observed inadvance. Thirdly, XTDrone is based on ROS, Gazebo, and PX4, andhence the codes in simulations can be easily transplanted to embeddedsystems. Note that XTDrone can support various types of multi-UAVmissions, and we provide two important demos in this paper: one is aground-station-based multi-UAV cooperative search, and the other is adistributed UAV formation flight, including consensus-based formationcontrol, task assignment, and obstacle avoidance.<br />Comment: 12 pages, 10 figures. And for the, see https://gitee.com/robin_shaun/XTDrone
- Subjects :
- Electrical Engineering and Systems Science - Systems and Control
Subjects
Details
- Database :
- arXiv
- Journal :
- Proceedings of 2020 International Conference on Guidance Navigation and Control, ICGNC 2020, Tianjin, China, October 23-25, 2020
- Publication Type :
- Report
- Accession number :
- edsarx.2005.01125
- Document Type :
- Working Paper
- Full Text :
- https://doi.org/10.1007/978-981-15-8155-7_423