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CDSSim - Multi UAV Communication and Control Simulation Framework

Mohini, Arshi
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554373574457271

Abstract Details

2019, MS, University of Cincinnati, Engineering and Applied Science: Computer Engineering.
The Unmanned Aerial Vehicles (UAVs) are finding increasing number applications, particularly in civilian domain. This increase in application can be directly correlated to recent advancement of technology in the areas of computing, communication, and sensing. At the same time, increased sophistication of optimization algorithms allows planning paths of UAVs for their incorporation into National Airspace System (NAS). However, before these UAVs can safely operate in NAS, these algorithms need to be robust to uncertainties arising due to sensing and communication. Robustness of collision avoidance algorithm is critical to safety in all multi UAV applications. To correctly determine the robustness of any algorithm, the evaluation of interplay between UAV communication and control is very important. In this work, we strive to develop a novel simulation framework, CDSSim to evaluate the feasibility and performance of a path planning algorithm based on decentralized market-based methods developed in our laboratory with respect to communication uncertainties such as delays and packet losses. In order for this simulation environment to be of high fidelity and represent realistic real-world constraints, Gazebo ROS, a popular physics-based robotic simulator is used in our framework to simulate the UAVs. For the simulation of communication protocol, we have utilized ns-3 which is an extremely powerful network simulator capable of simulating network delays and losses based on real-world constraints such as range. Furthermore, Dronekit’s PX4 firmware package, representing popular open source PX4 autopilot system, has been used as the UAV autopilot. CDSSim utilizes internet sockets to establish synchronization between UAV simulator (Gazebo ROS) and network simulator (ns-3). The communication protocol used for evaluation in this work is LTE that represents one of the most popular cellular communication means with widespread commercially available coverage. Our simulation framework can be easily modified to use any other communication protocol (e.g. WiFi, GSM, etc). UAVs trasmit their waypoints through LTE network to the Ground Control Station (GCS) and GCS in turn transmits desired waypoints to the UAVs. Our experiment describes the feasibility of any path planning algorithm using our CDSSim. Numerical simulations are carried out to study the effects of communication losses and delays on the robustness of any algorithm.
Rui Dai, Ph.D. (Committee Chair)
Manish Kumar, Ph.D. (Committee Chair)
Dieter Vanderelst, Ph.D. (Committee Member)
80 p.
Engineering
UAV; ns-3; Socket programming; GAZEBO

Recommended Citations

Citations

  • Mohini, A. (2019). CDSSim - Multi UAV Communication and Control Simulation Framework [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554373574457271

    APA Style (7th edition)

  • Mohini, Arshi. CDSSim - Multi UAV Communication and Control Simulation Framework. 2019. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554373574457271.

    MLA Style (8th edition)

  • Mohini, Arshi. "CDSSim - Multi UAV Communication and Control Simulation Framework." Master's thesis, University of Cincinnati, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1554373574457271

    Chicago Manual of Style (17th edition)

ucin1554373574457271
1,881
© 2019, some rights reserved.Creative Commons License CDSSim - Multi UAV Communication and Control Simulation Framework by Arshi Mohini is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by University of Cincinnati and OhioLINK.