ROSflight 2.0升级为轻量级无人机自主飞行系统
ROSflight 2.0: Lean ROS 2-Based Autopilot for Unmanned Aerial Vehicles
- 从ROS 1迁移至ROS 2，提升系统模块化与兼容性
- 支持多类型硬件，400Hz控制频率实现闭环飞行
- 适合无人机研究者快速从仿真过渡到真实飞行
ROSflight是一个专为研究人员设计的轻量级开源无人机自动驾驶生态系统。本文在前期工作基础上，介绍了架构上的重要改进，包括从ROS 1迁移到ROS 2、新增硬件支持、底层执行器混合功能以及仿真环境。这些改进显著提升了系统的模块化与可用性。实测结果表明，ROSflight可通过串口以400 Hz频率控制多旋翼，在配套计算机上完成全部控制回路闭合。我们相信这些更新将加速先进空中交通等领域的研究进程。
原文摘要 · Abstract (English)
ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to hardware experiments by maintaining a lean (not full-featured), well-documented, and modular codebase. This publication builds on previous treatments and describes significant additions to the architecture that improve the modularity and usability of ROSflight, including the transition from ROS 1 to ROS 2, supported hardware, low-level actuator mixing, and the simulation environment. We believe that these changes improve the usability of ROSflight and enable ROSflight to accelerate research in areas like advanced-air mobility. Hardware results are provided, showing that ROSflight is able to control a multirotor over a serial connection at 400 Hz while closing all control loops on the companion computer.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。