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http://dx.doi.org/10.12985/ksaa.2019.27.3.001

Integrated Simulation Environment for Heterogeneous Unmanned Vehicle using ROS and Pixhawk  

Kim, Hyeong-Min (부산대학교 항공우주공학과)
Lee, Dae-Woo (부산대학교 항공우주공학과)
Publication Information
Journal of the Korean Society for Aviation and Aeronautics / v.27, no.3, 2019 , pp. 1-14 More about this Journal
Abstract
Cooperative systems among various unmanned vehicles are widely used in various field and emerging. Unmanned vehicles are able to operate various missions without operator onboard and they are highly stable. Collaborative work of multiple unmanned vehicles is emphasized due to the difficulty of recent missions such as SEAD (Suppression of the Enemy Air Defenses), MUSIC (Manned Unmanned Systems Integration Capability), goldentime in the rescue mission. In this study, ROS and Pixhawk were proposed as a method of construction of a collaboration system and framework for an integrated simulation environment for heterogeneous unmanned vehicles is proposed. Totally 5 unmanned vehicles were set for the simulation for the observation of illegal fishing boats. This paper shows the feasibility of the cooperative system using ROS and Pixhawk through the simulation and the experiment.
Keywords
Unmanned Vehicle; Cooperative System; Open source; Pixhawk; ROS;
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