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Improvement of XRCE-DDS Communication System for Swarm Environment of Unmanned Vehicles Based on PX4-ROS2
Hyeongyu Lee, Doyoon Kim, Dongoo Lee, Sungtae Moon
http://doi.org/10.5626/JOK.2025.52.3.227
Recently, swarm vehicles are being used in various fields due to the development of swarm operation technology. Among various systems that constitute a swarm vehicle, PX4-ROS2 connects the PX4, an unmanned vehicle control computer, and ROS2 for mission execution through XRCE-DDS (eXtremely Resource Constrained Environments-Data Distribution Service), an open-source-based software that supports real-time communication between devices. However, the operation of swarm unmanned vehicles based on a wireless network using a distributed service of XRCE-DDS is not optimized. It requires communication optimization work for stable operation. In this paper, we analyzed the XRCE-DDS communication structure operating in PX4-ROS2 and proposed a new Discovery mechanism to solve the problem of increased communication volume due to increased nodes during swarm operation. We present a method to enhance the stability and scalability of communication and verified it through simulation.
Developement of SITL & HITL System based on PX4-Matlab for VTOL Test
Donghyeon Ko, Minkyu Kim, Jinseok Jung, SungTae Moon
http://doi.org/10.5626/JOK.2024.51.6.528
PX4, the open-source-based flight control computer, is garnering significant attention for its ability to support various drone configurations. The integration of Gazebo and PX4 enables the validation of flight control algorithms in simulations, making it widely utilized in system development. However, when developing specialized drone configurations not natively supported by Gazebo, it becomes challenging to create vehicle models. In addition the fidelity of the drone component models provided by Gazebo is often not high, leading to discrepancies between simulation and actual aircraft operation results. In the aerospace field, Matlab/Simulink, known for its high-fidelity drone models, has been widely used. However, the integration of Matlab/Simulink with PX4 has presented challenges, resulting in the need to maintain separate source code for simulation and real-world operations, leading to duplicated development efforts. This paper proposes a PX4-Matlab simulator, which leverages Matlab/Simulink commonly used in the drone industry, as an alternative to the conventional approach of using PX4 and Gazebo. To verify the proposed system, it was applied and tested on the LC-62 VTOL drone.
Swarm Reconnaissance Drone System for Efficient Object Detection
SungTae Moon, Jihoon Jeon, Yongwoo Kim
http://doi.org/10.5626/JOK.2022.49.9.715
With the recent development in drone technology, drones are being used in numerous industries such as cultural performances, logistics delivery, and traffic monitoring. In particular, as drones are used in reconnaissance fields such as the search for missing people and intruder detection, efficient mission performance has become possible. For effective reconnaissance, it is necessary to quickly monitor a large area and find a target in real-time. However, the current system cannot obtain real-time reconnaissance results because it is difficult to process inside the drone due to its performance limitations. In addition, it is difficult to conduct integrated commands and share information because it is judged based on the images obtained individually from the drone. This paper proposes a pruning algorithm and active swarm reconnaissance system for object detection based on stitched drone images. Using four drones, the proposed system verifies the real-time object detection and swarm operation system.
Fair Hungarian Algorithm for Swarming Drone Flight Formation Transformation
http://doi.org/10.5626/JOK.2022.49.6.459
The drone show impressed people through the convergence of technology and art in the sky during 2018 Pyeongchang Winter Olympics. For the stable swarm flight, the system should consider efficient communication, accurate position estimation, and fast and efficient scenario without collision between drones. Especially, the scenario transformation algorithm is a core technology of the drone show, and can be performed as an assignment problem. Hungarian algorithm is commonly used for the assignment problem. However, Hungarian algorithm is not suitable for formation transformation of the swarm flight, because the battery usage of individual drones is not taken into account. Thus, an increase in the amount of movement of some drones increases battery consumption and reduces operating time. In this paper, the fair Hungarian algorithm is proposed to increase operating time considering fair battery consumption. The proposed algorithm was verified using the swarming flight system at a drone show performed with 100 drones.
Outdoor Swarm Flight System Based on the RTK-GPS
SungTae Moon, DoYoon Kim, DonGoo Lee
http://doi.org/10.5626/JOK.2020.47.3.328
The increasing interest in drones has generated new application systems in the various areas. Especially, the drone-show performance applying the swarm flight system impressed many people globally at the Pyeongchang Winter Olympics. However, this technology is Intel technology, not domestic proprietary technology. Thus, the KARI (Korean Aerospace Research Institute) has developed the swarm flight system based on the RTK-GPS and verified the system by showing the 100 drone-show at the independence movement day. In this paper, the propose a robust swarm flight system which can switch the mode according to the RTK-GPS condition. The efficient precise position estimation, communication system, and how to develop the scenario are explained.
Outdoor Swarm Flight System Based on RTK-GPS
SungTae Moon, YeonJu Choi, DoYoon Kim, Myeonghun Seung, HyeonCheol Gong
Recently, the increasing interest in drones has resulted in development of new related technologies. Attention has been focused toward research on swarm flight which controls drones simultaneously without collision. Thus, complicated missions can be completed rapidly through collaboration between drones. Due to low position accuracy, GPS is not appropriate for the outdoor mission involving accurate flight. In addition, the inaccurate position estimation of GPS gives rise to the serious problem of collision, since many drones are controlled in a narrow space. In this study, we increased the accuracy of position estimation through various sensors with Real-Time Kinematic-GPS (RTK-GPS). The mode switching algorithm was proposed to minimize the problem of sensor error. In addition, we introduced the outdoor swarm flight system based on the proposed position estimation.
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