A Setup for multi-UAV hardware-in-the-loop simulations

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2015-11-01 DOI:10.1109/RED-UAS.2015.7441008

M. Odelga, P. Stegagno, H. Bulthoff, Aamir Ahmad

引用次数: 17

Abstract

In this paper, we present a hardware-in-the-loop simulation setup for multi-UAV systems. With our setup we are able to command the robots simulated in Gazebo, a popular open source ROS-enabled physical simulator, using computational units that are embedded on our quadrotor UAVs. Hence, we can test in simulation not only the correct execution of algorithms, but also the computational feasibility directly on the robot's hardware. In addition, since our setup is inherently multi-robot, we can also test the communication flow among the robots. We provide two use cases to show the characteristics of our setup.

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多无人机硬件在环仿真的建立

在本文中，我们提出了一个多无人机系统的硬件在环仿真装置。通过我们的设置，我们能够命令在Gazebo中模拟的机器人，这是一个流行的开源ros支持的物理模拟器，使用嵌入在我们的四旋翼无人机上的计算单元。因此，我们不仅可以在仿真中测试算法的正确执行，还可以直接在机器人硬件上测试计算的可行性。此外，由于我们的设置本质上是多机器人的，我们还可以测试机器人之间的通信流。我们提供了两个用例来展示我们的设置的特征。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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