In this paper, a hierarchical multiple unmanned aerial vehicle(UAV) simulation platform, called XTDrone, is designed for UAV swarms, which is completely open-source (Source code at https://gitee.com/robin_shaun/XTDrone or https://github.com/robin_shaun/XTDrone, and user manual at https://www.yuque.com/xtdrone/manual_en.). There are six layers in XTDrone: communication, simulator, low-level control, high-level control, coordination, and human interaction layers. XTDrone has three advantages. Firstly, the simulation speed can be adjusted to match the computer performance, based on the lockstep mode. Thus, the simulations can be conducted on a work station or on a personal laptop, for different purposes. Secondly, a simplified simulator is also developed which enables quick algorithm designing so that the approximated behavior of UAV swarms can be observed in advance. Thirdly, XTDrone is based on Robot Operating System (ROS), Gazebo, and PX4, and hence the codes in simulations can be easily transplanted to embedded systems. Note that XTDrone can support various types of multi-UAV missions, and we provide two important demos in this paper: one is a ground-station-based multi-UAV cooperative search, and the other is a distributed UAV formation flight, including consensus-based formation control, task assignment, and obstacle avoidance.
Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform
Lect. Notes Electrical Eng.
2021-10-30
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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Springer Verlag | 2015
|Europäisches Patentamt | 2023
|Europäisches Patentamt | 2015
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