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Centralized Swarming UAV Using ROS for Collaborative Missions

机译：使用ROS用于协作任务的集中蜂拥而至

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摘要

Recently, UAV technology is growing rapidly. One of the technologies in the UAV is swarming. Many applications of UAV can utilize the swarming technology, such as collaborative searching, monitoring, and mapping. In this research, basic structure of swarming system was created. The objective is to develop a system with the ability to adapt to various operational conditions, such as UAV connection loss and system failure in some UAVs. In such conditions, the system should be able to generate new mission plan for each UAV based on the number of remaining UAVs. Since swarming technology can be applied to many purposes, the swarming system has to be created to accommodate various missions. For this research, ROS framework was chosen because it has been equipped with complete tools. The swarming system created was then tested using SITL simulation because it can connect to the swarming system with ease. Several simulations were performed with various number of UAV. Results show that the created swarming system was able to finish the given missions regardless of the failure in some UAVs. The more number of UAV utilized, the faster the mission can be finished.
机译：最近，UAV技术正在迅速增长。无人机中的一个技术正在蜂拥而至。 UAV的许多应用可以利用蜂拥而至的技术，例如协作搜索，监控和映射。在这项研究中，创建了蜂拥系统的基本结构。目标是开发一个能够适应各种操作条件的系统，例如在某个无人机中的UAV连接丢失和系统故障。在这种情况下，系统应该能够根据剩余的无人机的数量来为每个UV生成新的任务计划。由于蜂拥而至的技术可以应用于许多目的，因此必须创建蜂拥而至以适应各种任务。对于本研究，选择了ROS框架，因为它已经配备了完整的工具。然后使用SITL仿真测试创建的蜂鸣系统，因为它可以轻松地连接到蜂鸣系统。使用各种数量的无人机进行了多次模拟。结果表明，由于一些无人机的失败，所创建的蜜饯系统能够完成给定的任务。使用的UAV数量越多，使命可以完成越快。

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