Integrated Simulation Environment for Heterogeneous Unmanned Vehicle using ROS and Pixhawk

We proposed a framework for constructing an integrated simulated environment for heterogeneous unmanned vehicles. Systems for cooperation between unmanned vehicles are becoming more important. Unmanned vehicles can carry out missions without a passenger, they are highly stable, and can perform a variety of missions. In addition, due to the difficulty of the recent mission, such as SEAD (Suppression of the Enemy Air Defenses), MUSIC (Manned Unmanned Systems Integration Capability), and Golden-Time in the rescue mission, the collaborative work of multiple Unmanned Vehicles is emphasized. In industry, however, individual vehicles are mainly developed independently, and there is no active growth due to differences in characteristics and barriers to entry. In this research, ROS (Robot Operating System) was proposed as a solution for this problem in the construction of a collaboration system using Pixhawk and an unmanned vehicle integrated simulator based on open source software. We verified the feasibility of the approach through simulation and experiment.