Article Details

Abstract

To address challenges in UAV research and development, including lengthy development cycles, high testing costs, poor fidelity in physical testing, and difficulties in replicating high-risk scenarios, this paper proposes a UAV simulation system based on ROS-Unity3D. The system employs Robot Operating System (ROS) as the core control platform, responsible for handling the UAV's perception, control, and decision-making behaviors. Unity3D serves as the external environment platform, simulating diverse environmental scenarios while receiving real-time control commands from ROS. Leveraging its robust 3D rendering capabilities, physics engine, and UI components, it achieves high-fidelity simulation of the UAV's flight state, environmental interaction capabilities, and decision-making behaviors, enabling real-time presentation of the UAV's dynamic actions and decision responses within the 3D scene. The system receives internal and external messages from Unity3D via ROS, performs UAV decision-making, and issues control commands. Unity3D receives these commands and converts them in real-time into model parameter adjustments, thereby achieving UAV simulation. Under ideal conditions, this system can meet the development requirements for unmanned aerial vehicles, enabling real-time data transmission, synchronized detection, and prompt response.

Keywords

ROS; Unity3D; drone simulation

References

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About the authors

Wang Yanzhao (2001-), female, Tujia ethnic group, native of Xiangxi, Hunan, master's degree, research direction: development of Unity ROS collaborative simulation environment for robot systems; Hai Chao (2000-), male, Hui ethnic, from Weinan, Shaanxi, currently pursuing a master's degree, research direction: simulation of large-scale intelligent computing network clusters; Zhuge Zhen (2001-), male, Han ethnicity, from Jinhua, Zhejiang Province, is currently pursuing a master's degree. His research direction is large-scale intelligent computing network intelligent scheduling.