UAVs can be assigned different tasks such as e.g., rendez-vous and space coverage, which require processing and communication capabilities. This work extends the architecture ROS/Gazebo with the possibility of simulation of co-operative UAVs. We assume UAV with the underlying attitude controller based on the open-source Ardupilot software. The integration of the co-ordination algorithm in Gazebo is implemented with software modules extending Ardupilot with the capability of sending/receiving messages to/from drones, and executing the co-ordination protocol. As far as it concerns the simulation environment, we have extended the world in Gazebo to hold more than one drone and to open a specific communication port per drone. In the paper, results on the simulation of a representative co-ordination algorithm are shown and discussed, in a scenario where a small number of Iris Quadcopters are deployed.
Bernardeschi, C., Fagiolini, A., Palmieri, M., Scrima, G., Sofia, F. (2019). ROS/Gazebo Based Simulation of Co-operative UAVs. In Jan Mazal (a cura di), Modelling and Simulation for Autonomous Systems: 5th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2018 5th International Conference, MESAS 2018, Prague, Czech Republic, October 17–19, 2018, (pp. 321-334). Heidelberg : Springer Verlag [10.1007/978-3-030-14984-0_24].
ROS/Gazebo Based Simulation of Co-operative UAVs
Fagiolini, Adriano
;
2019-01-01
Abstract
UAVs can be assigned different tasks such as e.g., rendez-vous and space coverage, which require processing and communication capabilities. This work extends the architecture ROS/Gazebo with the possibility of simulation of co-operative UAVs. We assume UAV with the underlying attitude controller based on the open-source Ardupilot software. The integration of the co-ordination algorithm in Gazebo is implemented with software modules extending Ardupilot with the capability of sending/receiving messages to/from drones, and executing the co-ordination protocol. As far as it concerns the simulation environment, we have extended the world in Gazebo to hold more than one drone and to open a specific communication port per drone. In the paper, results on the simulation of a representative co-ordination algorithm are shown and discussed, in a scenario where a small number of Iris Quadcopters are deployed.
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