Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of a X-Plane and MATLAB/Simulink based Simulation System for Multiple UAVs

X-Plane 및 MATLAB/Simulink 기반의 복수무인기 모의실험 시스템 개발

  • Moon, Sangwoo (Department of Aerospace and Mechanical Engineering, Korea Air Force Academy) ;
  • Oh, Eun-Mi (CNS/ATM & Satellite Navigation Research Center, Korea Aerospace Research Institute) ;
  • You, Dong-Il (Department of Aerospace Engineering, KAIST) ;
  • Shim, David Hyunchul (Department of Aerospace Engineering, KAIST)
  • 문상우 (공군사관학교 항공우주기계공학과) ;
  • 오은미 (한국항공우주연구원 교통항법기술연구센터) ;
  • 유동일 (KAIST 항공우주공학과) ;
  • 심현철 (KAIST 항공우주공학과)
  • Received : 2013.02.20
  • Accepted : 2013.03.15
  • Published : 2013.05.01
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Abstract

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

Keywords

References

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