The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Drone Racing Simulator using SLAM Technology and Reconstruction of Simulated Environments

SLAM 기술을 활용한 가상 환경 복원 및 드론 레이싱 시뮬레이션 제작

  • Received : 2021.01.25
  • Accepted : 2021.06.17
  • Published : 2021.08.31
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Abstract

In this paper, we present novel simulation contents for drone racing and autonomous flight of drone. With Depth camera and SLAM, we conducted mapping 3 dimensional environment through RTAB-map. The 3 dimensional map is represented by point cloud data. After that we recovered this data in Unreal Engine. This recovered raw data reflects real data that includes noise and outlier. Also we built drone racing contents like gate and obstacles for evaluating drone flight in Unreal Engine. Then we implemented both HITL and SITL by using AirSim which offers flight controller and ROS api. Finally we show autonomous flight of drone with ROS and AirSim. Drone can fly in real place and sensor property so drone experiences real flight even in the simulation world. Our simulation framework increases practicality than other common simulation that ignore real environment and sensor.

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Acknowledgement

본 연구는 정보통신기획평가원의 대학ICT연구센터지원사업의 지원을 받아 수행하였습니다(IITP-2020-0-01460, Simulated Reality 콘텐츠 구현을 위한 핵심기술연구 및 인력양성).

References

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