Proximal Policy Optimization for Multi-rotor UAV Autonomous Guidance, Tracking and Obstacle Avoidance

Hu, Duo-Xiu; Dong, Wenhan; Wujie, Xie; He, Lei

doi:10.1007/s42405-021-00427-2

Cited by 4 publications

(1 citation statement)

References 17 publications

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“…There are various simulation environments that work with PX4 SITL among which, Gazebo, jMAVSim, FlightGear, and AirSim are some. Gazebo is the most widely used simulation environment for PX4 SITL [38][39][40][41][42]. It supports lock-step feature of PX4 SITL that enables the PX4 SITL and Gazebo to wait on each other during information processing.…”

Section: Px4 Sitl Gazebo Modelsmentioning

confidence: 99%

Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop

Tullu,

Jung,

Lee

et al. 2023

Preprint

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Software-In-The-Loop (SITL) simulation tools have been extensively used in development of safety-critical software. Utilizing these tools substantially accelerates software development eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model specific parameters on the development and testing of custom module in PX4 SITL environment. Models of a fixed-wing unmanned aerial vehicle with vertical takeoff and landing capabilities and steerable sensor platform/gimbal are used as case study for this investigation. The effects of parameters of these aerial vehicle and sensor platform models are taken into consideration in the development of custom module that controls the dynamics of steerable sensor platform mounted on the vehicle model. The work also presents steps necessary to customize PX4 SITL and Gazebo simulation environment to incorporate parameters of the vehicle and sensor platform models in the development and testing process of custom module. Based on these instances, simulation results are obtained and discussed. The results show that reliability of PX4 SITL simulation framework is justified by proper customization and integration of PX4 SITL and Gazebo simulator.

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Section: Px4 Sitl Gazebo Modelsmentioning

confidence: 99%