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- W4288691036 abstract "Rule-based swarm decision-making algorithms have been widely used in the research of unmanned aerial vehicle (UAV) swarm systems. However, current research mostly utilized numerical simulation to verify effectiveness of various decision-making algorithms, which is still a long way from actual flight tests. Therefore, this paper proposes a hardware-in-the-loop (HIL) simulation platform consisting of dynamic model, control module, swarm decision-making module and multi-UAV communication module. Taking a small fixed-wing UAV as an example, the dynamic model is implemented by the aerodynamic model library JSBSim. The control module includes the Total Energy Control System (TECS) and the L1 control method. A rule-based swarm decision-making algorithm is transplanted to NVIDIA TX2 as a swarm decision-making module. A multi-UAV communication module based on User Datagram Protocol (UDP) is built to ensure the information interaction among UAVs. In the test of the three behavior rules of alignment, cohesion and separation, the feasibility of the HIL simulation platform is verified on the one hand, and the effectiveness of the rule-based swarm decision-making algorithm in this simulation platform is verified on the other hand." @default.
- W4288691036 created "2022-07-30" @default.
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- W4288691036 date "2022-07-29" @default.
- W4288691036 modified "2023-09-27" @default.
- W4288691036 title "A Hardware-in-the-Loop Simulation Platform for UAV Swarm Decision-Making" @default.
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- W4288691036 doi "https://doi.org/10.1007/978-981-19-3998-3_19" @default.
- W4288691036 hasPublicationYear "2022" @default.
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