Abstract
In this paper a framework for simulation of Unmanned Aerial Vehicles (UAVs), oriented to rotary wings aerial vehicles, is presented. It allows UAV simulations for stand-alone agents or multi-agents exchanging data in cooperative scenarios. The framework, based on modularity and stratification in different specialized layers, allows an easy switching from simulated to real environments, thus reducing testing and debugging times. CAD modelling supports the framework mainly with respect to extraction of geometrical parameters and virtualization. Useful applications of the framework include pilot training, testing and validation of UAVs control strategies, especially in an educational context, and simulation of complex missions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Sanders, C.P., DeBitetto, P.A., Feron, E., Vuong, H.F., Leveson, N.: Hierarchical control of small autonomous helicopters. In: Proceedings of the 37th IEEE Conference on Decision and Control (December 1998)
Frontoni, E., Mancini, A., Caponetti, F., Zingaretti, P.: A framework for simulations and tests of mobile robotics tasks. In: Proceedings of 14th Mediterranean Conference on Control and Automation, MED 2006 (2006)
Collett, T.H.J., MacDonald, B.A., Gerkey, B.P.: Player 2.0: Toward a practical robot programming framework. In: Australasian Conf. on Robotics and Automation, ACRA 2005 (2005)
Carmen robot navigation tool kit (2008), http://carmen.sourceforge.net/
Microsoft robotics studio (2008), http://msdn.microsoft.com/robotics/
Usarsim (2008), http://sourceforge.net/projects/usarsim/
Microsoft fs (2008), http://www.microsoft.com/games/flightsimulatorX/
Fms project (2008), http://www.flying-model-simulator.com/
Jsbsim home page (2008), http://jsbsim.sourceforge.net/
Rotorlib home page (2008), http://www.rtdynamics.com/v1.0/
Taamallah, S., de Reus, A.J.C., Boer, J.F.: Development of a rotorcraft mini-uav system demonstrator. In: The 24th Digital Avionics Systems Conference, DASC 2005 (2005)
Frontoni, E., Mancini, A., Caponetti, F., Zingaretti, P., Longhi, S.: Prototype uav helicopter working in cooperative environments. In: Proceedings of IEEE/ASME international conference on Advanced intelligent mechatronics, AIM 2007 (2007)
Aerosim toolbox (2008), http://www.u-dynamics.com/aerosim/
Jetto, L., Longhi, S., Venturini, G.: Development and experimental validation of an adaptive extended kalman filter for the localization of mobile robots. IEEE Trans. on Robotics and Automation 15(2), 219–229 (1999)
Koo, T.J., Sastry, S.: Output tracking control design of a helicopter model based on approximate linearization. In: Proceedings of the 37th IEEE Conference on Decision and Control (1998)
Flightgear project (2008), http://www.flightgear.org
Wang, X., Yadav, V., Balakrishnan, S.N.: Cooperative uav formation flying with obstacle/collision avoidance. IEEE Transactions on Control Systems Technology 15, 672–679 (2007)
Lechevin, N., Rabbath, C.A., Sicard, P.: Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles. Automatica 42(12), 2131–2141 (2006)
Merino, L., Caballero, F., Martinez de Dios, J.R., Ollero, A.: Cooperative fire detection using unmanned aerial vehicles. In: Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2005 (2005)
Beard, R.W., et al.: Decentralized cooperative aerial surveillance using fixed-wing miniature uav. Proceedings of the IEEE 94(7), 1306–1324 (2006)
Mahony, R., Hamel, T.: Robust trajectory tracking for a scale model autonomous helicopter. Int. Journal of Robust and Nonlinear Control 14(12), 1035–1059 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cesetti, A., Mancini, A., Frontoni, E., Zingaretti, P., Longhi, S. (2008). From Simulated to Real Scenarios: A Framework for Multi-UAVs. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2008. Lecture Notes in Computer Science(), vol 5325. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89076-8_6
Download citation
DOI: https://doi.org/10.1007/978-3-540-89076-8_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89075-1
Online ISBN: 978-3-540-89076-8
eBook Packages: Computer ScienceComputer Science (R0)