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International Conference on Intelligent Computing

ICIC 2019: Intelligent Computing Theories and Application pp 615–627Cite as

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)

Abstract

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.

Keywords

  • Graph-SLAM
  • HILS
  • UAV

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  • DOI: 10.1007/978-3-030-26969-2_58
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Acknowledgments

This work was supported by the KHNP (Korea Hydro & Nuclear Power Co., Ltd) Research Fund Haeorum Alliance Nuclear Innovation Center of Ulsan University.

Author information

Authors and Affiliations

  1. Faculty of Electrical and Electronic Engineering, Phenikaa Institute for Advanced Study (PIAS), Phenikaa University, Hanoi, 100000, Vietnam

    Khoa Dang Nguyen

  2. Phenikaa Research and Technology Institute (PRATI), A&A Green Phoenix Group, 167 Hoang Ngan, Hanoi, 100000, Vietnam

    Khoa Dang Nguyen

  3. Faculty of Electrical-Electronic Engineering, Vietnam Maritime University, 484 Lach Tray, Le Chan, Haiphong, Vietnam

    Trong-Thang Nguyen

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

    Cheolkeun Ha

Authors
  1. Khoa Dang Nguyen
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  2. Trong-Thang Nguyen
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  3. Cheolkeun Ha
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Corresponding author

Correspondence to Khoa Dang Nguyen .

Editor information

Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. University of Ulsan, Ulsan, Korea (Republic of)

    Kang-Hyun Jo

  3. Nanchang Institute of Technology, Nanchang, China

    Zhi-Kai Huang

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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. https://doi.org/10.1007/978-3-030-26969-2_58

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  • DOI: https://doi.org/10.1007/978-3-030-26969-2_58

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