Paper Info
Title
Simulation in Real Conditions of Navigation and Obstacle Avoidance with PX4/Gazebo Platform
Abstract
Design of UAV systems requires from advanced tools to analyse the system components and their interaction in real operational conditions. In this work, the authors present an approach to evaluate a LIDAR sensor and the capacity for navigation and obstacle avoidance in simulated situations using a real UAV platform. It uses available software for mission definition and execution in UAVs based on PixHawk flight controller and peripherals. The solution shows physical integration of the main types of sensors in UAV domain both for navigation and collision avoidance, and at the same time the use of powerful simulation models developed with Gazebo. Some illustrative results show the performance of this navigation and obstacle avoidance function using the simulated sensors and the control of the real UAV in realistic conditions.
Year
DOI
Venue
2019
10.1109/PERCOMW.2019.8730764
2019 IEEE International Conference on Pervasive Computing and Communications Workshops (PerCom Workshops)
Keywords
Field
DocType
Laser radar,Collision avoidance,Unmanned aerial vehicles,Navigation,Biological system modeling,Atmospheric modeling,Software
Obstacle avoidance,Control theory,Computer science,Collision,Simulation modeling,Real-time computing,Software,Lidar,Distributed computing
Conference
ISSN
ISBN
Citations 
2474-2503
978-1-5386-9151-9
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Jesús García1443.95
José M. Molina260467.82