Co-simulation-based evaluation of UAV obstacle avoidance using 3DVFH* and stereo cameras

https://doi.org/10.31130/ud-jst.2025.23(9B).498

Tóm tắt: 140 | PDF: 98

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Author

  • Le Duong Khang
    The University of Danang - University of Science and Technology, Vietnam
    Nguyen Ngoc Trung
    The University of Danang - University of Science and Technology, Vietnam
    Ngo Viet Huy Hoang
    The University of Danang - University of Science and Technology, Vietnam
    Tran Thi Minh Hanh
    The University of Danang - University of Science and Technology, Vietnam
    Huynh Thanh Tung
    The University of Danang - University of Science and Technology, Vietnam
    Duy-Tuan Dao
    The University of Danang - University of Science and Technology, Vietnam

Từ khóa:

Drone simulation
PX4
Gazebo
ROS
QGroundControl

Tóm tắt

The paper aims to simulate UAVs in complex network environments to evaluate their performance in obstacle avoidance using stereo sensors. Since there are strict security regulations limiting real-world UAV flight testing, this research addresses the critical need for comprehensive simulation-based approaches.. The system integrates real-time obstacle detection and avoidance algorithms, enabling UAVs to navigate safely in environments with obstacles. Developed on the ROS framework with PX4 SITL and Gazebo, the system supports comprehensive end-to-end testing, from stereo image acquisition to UAV navigation using the 3DVFH* algorithm. It utilizes the MAVLink protocol for control and QGroundControl for monitoring. Simulation results confirm the system’s effectiveness, establishing a solid foundation for advanced autonomous UAV navigation in real-world applications.

Tài liệu tham khảo

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Sep 30, 2025
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Khang, L. D., N. N. Trung, N. V. H. Hoang, T. T. M. Hanh, H. T. Tung, và D.-T. Dao. “Co-Simulation-Based Evaluation of UAV Obstacle Avoidance Using 3DVFH* and Stereo Cameras”. Tạp Chí Khoa học Và Công nghệ - Đại học Đà Nẵng, vol 23, số p.h 9B, Tháng Chín 2025, tr 22-27, doi:10.31130/ud-jst.2025.23(9B).498.

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