TY - GEN
T1 - A Hardware-in-the-Loop Simulation Platform for UAV Swarm Decision-Making
AU - Xin, Ziwei
AU - Li, Jie
AU - Wang, Ziquan
AU - Li, Juan
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - Rule-based swarm decision-making algorithms have been widely used in the research of unmanned aerial vehicle (UAV) swarm systems. However, current research mostly utilized numerical simulation to verify effectiveness of various decision-making algorithms, which is still a long way from actual flight tests. Therefore, this paper proposes a hardware-in-the-loop (HIL) simulation platform consisting of dynamic model, control module, swarm decision-making module and multi-UAV communication module. Taking a small fixed-wing UAV as an example, the dynamic model is implemented by the aerodynamic model library JSBSim. The control module includes the Total Energy Control System (TECS) and the L1 control method. A rule-based swarm decision-making algorithm is transplanted to NVIDIA TX2 as a swarm decision-making module. A multi-UAV communication module based on User Datagram Protocol (UDP) is built to ensure the information interaction among UAVs. In the test of the three behavior rules of alignment, cohesion and separation, the feasibility of the HIL simulation platform is verified on the one hand, and the effectiveness of the rule-based swarm decision-making algorithm in this simulation platform is verified on the other hand.
AB - Rule-based swarm decision-making algorithms have been widely used in the research of unmanned aerial vehicle (UAV) swarm systems. However, current research mostly utilized numerical simulation to verify effectiveness of various decision-making algorithms, which is still a long way from actual flight tests. Therefore, this paper proposes a hardware-in-the-loop (HIL) simulation platform consisting of dynamic model, control module, swarm decision-making module and multi-UAV communication module. Taking a small fixed-wing UAV as an example, the dynamic model is implemented by the aerodynamic model library JSBSim. The control module includes the Total Energy Control System (TECS) and the L1 control method. A rule-based swarm decision-making algorithm is transplanted to NVIDIA TX2 as a swarm decision-making module. A multi-UAV communication module based on User Datagram Protocol (UDP) is built to ensure the information interaction among UAVs. In the test of the three behavior rules of alignment, cohesion and separation, the feasibility of the HIL simulation platform is verified on the one hand, and the effectiveness of the rule-based swarm decision-making algorithm in this simulation platform is verified on the other hand.
KW - Distributed decision-making
KW - Hardware-in-the-loop
KW - Simulation platform
KW - UAV swarm
UR - http://www.scopus.com/inward/record.url?scp=85135866016&partnerID=8YFLogxK
U2 - 10.1007/978-981-19-3998-3_19
DO - 10.1007/978-981-19-3998-3_19
M3 - Conference contribution
AN - SCOPUS:85135866016
SN - 9789811939976
T3 - Lecture Notes in Electrical Engineering
SP - 189
EP - 199
BT - Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control
A2 - Ren, Zhang
A2 - Hua, Yongzhao
A2 - Wang, Mengyi
PB - Springer Science and Business Media Deutschland GmbH
T2 - 5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021
Y2 - 19 January 2022 through 22 January 2022
ER -