基于ROS 2与PX4的模块化无人机蜂群系统，支持异构设备协同作战。
A Modular and Scalable System Architecture for Heterogeneous UAV Swarms Using ROS 2 and PX4-Autopilot
- 为每架无人机组件设计独立ROS 2节点，实现硬件无缝集成
- 支持编队飞行与领航跟随，可在仿真与实测中稳定运行
- 适合需要多类型无人机协同的反制任务或智能集群应用
本文提出一种基于PX4飞控与机器人操作系统2（ROS 2）的异构无人机蜂群模块化、可扩展架构，用于对抗无人机系统（C-UAS）。通过为每架无人机的各组件设计独立的ROS 2节点，实现硬件组件的无缝集成。软件层面抽象了蜂群间通信机制，支持多种通信技术而不需修改架构。系统具备领航跟随、编队飞行等关键功能，并可集成计算机视觉算法实现无人机检测与追踪。同时集成了地面站控制系统，用于协调蜂群任务。该架构在Gazebo仿真环境中验证，并完成真实场景演示。
原文摘要 · Abstract (English)
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.
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