论文标题
基于层次多UAV模拟平台实施无人机协调
Implementation of UAV Coordination Based on a Hierarchical Multi-UAV Simulation Platform
论文作者
论文摘要
在本文中，一个称为XTDRONE的分层多UAV模拟平台是为无人机群设计的，该平台完全是开源4。 Xtdrone中有六层：通信，模拟器，低级控制，高级控制，协调和人间间层。 Xtdrone具有三个优点。首先，根据锁定步骤模式调整模拟速度以匹配计算机性能。因此，出于不同的目的，可以在个人笔记本电脑上的工作文档上进行仿真。其次，还开发了一个简化的模拟器，该简化可以启用快速算法设计SOTHAT，可以观察到无人机群的近似行为。第三，XTDRONE基于ROS，凉亭和PX4，并且仿真中的代码可以很容易地移植到嵌入式系统中。请注意，Xtdrone可以支持各种类型的多弹药，我们在本文中提供了两个重要的演示：一个是基于紧急站点的多UAV合作搜索，而另一种则是适当的无人机形成飞行，包括基于共识的形式造型，任务，任务分配和障碍物避免。
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.
