ICUAS 2020 Paper Abstract

Close

Paper FrD2.6

Moon, Sangwoo (University of Colorado Boulder), Bird, John (University of Colorado Boulder), Borenstein, Steve (University of Colorado), Frew, Eric W. (University of Colorado, Boulder)

A Gazebo/ROS-Based Communication-Realistic Simulator for Networked SUAS

Scheduled for presentation during the Regular Session "Simulation" (FrD2), Friday, September 4, 2020, 18:10−18:30, Kozani

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Simulation, UAS Communications, Networked Swarms

Abstract

Although communication is a critical factor of situational awareness and performance on networked sUAS, most simulators do not provide realistic wireless communication modules. It prevents realizing communication among multiple UA and information sharing, which yields significantly different results compared with actual results in the real world. This paper presents a communication-realistic simulator to improve more realistic results from coordination or cooperative planning/control of networked sUAS. The simulator in this paper is based on Gazebo/ROS with ArduPilot, where ArduPilot-Socket-API (APS) which generates aircraft data to be usable in ROS from ArduPilot is implemented. The wireless transceiver plugin in Gazebo is used to mimic the wireless communication between two UA with aids of the Hata-Okumura model for wireless radio propagation and quadrature phase-shift keying (QPSK) for data package modulation. Simulation results describe how realistic communication in the presented simulator affects data delivery concerning different communication-related parameters. This paper also gives how well the presented simulator emulates communication status realistically by comparing it with communication data gathered in real flight tests.

 

 

All Content © PaperCept, Inc.

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2024 PaperCept, Inc.
Page generated 2024-03-29  08:46:17 PST  Terms of use