一种基于ROS 2和PX4-Autopilot的异构无人机集群模块化可扩展系统架构
A Modular and Scalable System Architecture for Heterogeneous UAV Swarms Using ROS 2 and PX4-Autopilot
AI总结：
本文提出一种基于PX4-Autopilot和ROS 2的异构无人机集群模块化可扩展架构，通过独立节点实现硬件无缝集成，支持编队飞行与视觉跟踪，并在仿真与真实环境中验证。
摘要：
本文提出了一种基于PX4-Autopilot和Robot Operating System 2（ROS 2）框架构建的模块化且可扩展的异构集群反无人机系统（C-UASs）架构。该架构通过为无人机的每个组件引入独立的ROS 2节点，强调了硬件组件的无缝集成。集群参与者之间的通信在软件层面被抽象，允许在不改变架构的情况下使用各种技术。该架构支持关键功能，例如用于集群机动的领航跟随和编队飞行。系统还允许集成计算机视觉算法以进行无人机的检测与跟踪。此外，集成了地面站控制以协调集群操作。这种基于集群的无人机系统架构在Gazebo仿真环境及真实世界演示中均得到了验证。
英文摘要：
In this paper a modular and scalable architecture for heterogeneous swarm-based Counter Unmanned Aerial Systems (C-UASs) built on PX4-Autopilot and Robot Operating System 2 (ROS 2) framework is presented. The proposed architecture emphasizes seamless integration of hardware components by introducing independent ROS 2 nodes for each component of a Unmanned Aerial Vehicle (UAV). Communication between swarm participants is abstracted in software, allowing the use of various technologies without architectural changes. Key functionalities are supported, e.g. leader following and formation flight to maneuver the swarm. The system also allows computer vision algorithms to be integrated for the detection and tracking of UAVs. Additionally, a ground station control is integrated for the coordination of swarm operations. Swarm-based Unmanned Aerial System (UAS) architecture is verified within a Gazebo simulation environment but also in real-world demonstrations.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
