ROS 2とPX4-Autopilotを用いた異種UAV群のためのモジュール式スケーラブルシステムアーキテクチャ
A Modular and Scalable System Architecture for Heterogeneous UAV Swarms Using ROS 2 and PX4-Autopilot
ROS 2とPX4-Autopilotを基盤に、異種UAV群による対ドローンシステムのモジュール式で拡張可能なアーキテクチャを提案し、シミュレーションと実機で検証した。
著者: Robert Pommeranz, Kevin Tebbe, Ralf Heynicke, Gerd Scholl
分類: cs.RO
原文アブストラクト
In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture emphasizes seamless integration of hardware components by introducing independent ROS 2 nodes for each component of a Unmanned Aerial Vehicle (UAV). Communication between swarm participants is abstracted in software, allowing the use of various technologies without architectural changes. Key functionalities are supported, e.g. leader following and formation flight to maneuver the swarm. The system also allows computer vision algorithms to be integrated for the detection and tracking of UAVs. Additionally, a ground station control is integrated for the coordination of swarm operations. Swarm-based Unmanned Aerial System (UAS) architecture is verified within a Gazebo simulation environment but also in real-world demonstrations.