A JSON Interface for Simulation-Algorithm Communication for Modelling UAV Swarms as an Alternative to ROSUnitySim 2018-01-1956
In previous papers, ROSbridge was presented as a way to communicate directly between the Robot Operating System (ROS) and a visual simulator, Unity. The main benefit of which was the ability for researchers to develop and test many iterations of control algorithms using onboard processing exactly as it would be during an actual flight test. As more Unmanned Aerial Vehicles (UAVs) were added to the environment, a major drawback emerged. The simulation of each UAV required a dedicated processor due to ROS requirements. Two possible solutions immediately presented themselves. The first is to use multiple computers, or a cluster, with multiple cores to simply out-resource the problem. This would, however, still maintain a hard cap on the total number of vehicles. The second is to find an alternative to using ROS and ROSbridge. In this paper, we document and describe a JSON interface with the capability to port all of the data required for the simulation from the processor and algorithms, and to feedback the sensor data from the simulated test environment. Further, we discuss the benefits and limitations of this alternative simulation.
Yin M. Chen, Wai Lun Leong
US Army ARDEC, National University of Singapore
Aerospace Systems and Technology Conference