Abstract
The premise of Multi-UAV collaboration is full sharing of information, free from damage to the central node, and any equipment damage, the cluster can continue to carry out tasks. In this paper, a distributed Multi-UAV cooperative search system is designed based on ROS1-ROS2 without a central node. The search system uses ROS1-Mavros as the control layer, ROS2 is used as the collaboration layer, and the task planning layer uses particle swarm planning algorithm. The system combines the stability of ROS1 control with the decentralized feature of ROS2 based on DDS (Data Distribution Service) to quickly discover other members, which realizes stable control and efficient sharing of information between drones. Finally, a simulation with PX4, Gazebo, QgroundControl shows that ROS1 can achieve stable control, and ROS2 can achieve efficient information sharing between drones.
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Xu, G., Yang, Z., Lu, W., Zhang, L. (2022). Decentralized Multi-UAV Cooperative Search Based on ROS1 and ROS2. In: Wu, M., Niu, Y., Gu, M., Cheng, J. (eds) Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021). ICAUS 2021. Lecture Notes in Electrical Engineering, vol 861. Springer, Singapore. https://doi.org/10.1007/978-981-16-9492-9_239
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DOI: https://doi.org/10.1007/978-981-16-9492-9_239
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