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Graph-SLAM Based Hardware-in-the-Loop-Simulation for Unmanned Aerial Vehicles Using Gazebo and PX4 Open Source

Part of the Lecture Notes in Computer Science book series (LNISA,volume 11644)


This paper presents a method to simulate the graph simultaneous localization and mapping (Graph-SLAM) for a Unmanned Aerial vehicle (UAV) by using the hard-in-the-loop-simulation (HILS). This method uses the Gazebo software to render six-degree-of-freedom (6 DOF) UAV model, the virtual sensor model and virtual RGB-D camera model. To drive the UAV in Gazebo, the flight control based on PX4 open source code is performed on the Pixhawk board hardware. A Graph-SLAM algorithm open source named RTAB-MAP which is modified and installed on the Raspberry board, is used to estimate the 3D mapping of the environment and localization of UAV in map. A control application software (CAS) is developed to connect all parts of HILS such as the Gazebo, Pixhawk and Raspberry by using the multithread architecture. Numerical simulation has been performed to demonstrate the effectiveness of the HILS configuration approach.


  • Graph-SLAM
  • HILS
  • UAV

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  • DOI: 10.1007/978-3-030-26969-2_58
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This work was supported by the KHNP (Korea Hydro & Nuclear Power Co., Ltd) Research Fund Haeorum Alliance Nuclear Innovation Center of Ulsan University.

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Correspondence to Khoa Dang Nguyen .

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Nguyen, K.D., Nguyen, TT., Ha, C. (2019). Graph-SLAM Based Hardware-in-the-Loop-Simulation for Unmanned Aerial Vehicles Using Gazebo and PX4 Open Source. In: Huang, DS., Jo, KH., Huang, ZK. (eds) Intelligent Computing Theories and Application. ICIC 2019. Lecture Notes in Computer Science(), vol 11644. Springer, Cham.

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