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Vision-Based Hardware-in-the-Loop-Simulation for Unmanned Aerial Vehicles

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Intelligent Computing Theories and Application (ICIC 2018)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 10954))

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Abstract

This paper proposes a new configuration of a general hardware-in-the-loop-simulation (HILS) setup of Unmanned Aerial vehicle (UAV) especially for vision algorithm. In our setup, the Gazebo software is used to simulate six-degree-of-freedom (6 DOF) model and corresponding sensor readings such as the inertial measurement unit (IMU) and the camera for a quad-rotor UAV. Meanwhile, the flight control algorithm is performed on the Pixhawk hardware. The Raspberry hardware is installed the vision algorithms to estimate the position of the quad-rotor UAV for the landing task. The middle software named control application software (CAS) is developed to collect the communication between the Gazebo, Pixhawk and Raspberry by using the multithread architecture. Numerical implementation has been performed to prove effectiveness of the suggested HILS components approach.

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Author information

Authors and Affiliations

  1. School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, 680-749, South Korea

    Khoa Dang Nguyen & Cheolkeun Ha

Authors
  1. Khoa Dang Nguyen
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  2. Cheolkeun Ha
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Corresponding author

Correspondence to Cheolkeun Ha .

Editor information

Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. Polytechnic of Bari, Bari, Italy

    Vitoantonio Bevilacqua

  3. University of Wollongong, North Wollongong, New South Wales, Australia

    Prashan Premaratne

  4. Indian Institute of Technology Kanpur, Kanpur, India

    Phalguni Gupta

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Nguyen, K.D., Ha, C. (2018). Vision-Based Hardware-in-the-Loop-Simulation for Unmanned Aerial Vehicles. In: Huang, DS., Bevilacqua, V., Premaratne, P., Gupta, P. (eds) Intelligent Computing Theories and Application. ICIC 2018. Lecture Notes in Computer Science(), vol 10954. Springer, Cham. https://doi.org/10.1007/978-3-319-95930-6_8

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  • DOI: https://doi.org/10.1007/978-3-319-95930-6_8

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-95929-0

  • Online ISBN: 978-3-319-95930-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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