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http://dx.doi.org/10.7746/jkros.2021.16.3.245

Development of Drone Racing Simulator using SLAM Technology and Reconstruction of Simulated Environments  

Park, Yonghee (SKKU)
Yu, Seunghyun (SKKU)
Lee, Jaegwang (SKKU)
Jeong, Jonghyeon (SKKU)
Jo, Junhyeong (SKKU)
Kim, Soyeon (SKKU)
Oh, Hyejun (SKKU)
Moon, Hyungpil (Mechanical Engineering, Sungkyunkwan University)
Publication Information
The Journal of Korea Robotics Society / v.16, no.3, 2021 , pp. 245-249 More about this Journal
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.
Keywords
Augmented Reality; SLAM; Drone Racing; Simulation; Autonomous Flight;
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