Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection
Unmanned aircraft algorithm testing requires expensive investments in resources. Simulators areapproaches to conduct the testing before deploying the algorithm on an actual drone. Notwithstanding many available simulators in the market, there are some trades-off using those simulators in our researc...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/150344 |
| _version_ | 1826121761500954624 |
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| author | Eng, Yean Khai |
| author2 | Xie Lihua |
| author_facet | Xie Lihua Eng, Yean Khai |
| author_sort | Eng, Yean Khai |
| collection | NTU |
| description | Unmanned aircraft algorithm testing requires expensive investments in resources. Simulators areapproaches to conduct the testing before deploying the algorithm on an actual drone. Notwithstanding many available simulators in the market, there are some trades-off using those simulators in our research. In this project, we aim to develop a simulator that is suitable for simulating autonomous drone mission in outdoor structural inspection scenarios. The key requirements for the simulator are (1) realistic environment providing accurate sensors output, (2) responsive physics engine forthe real-time dynamics control, and (3) flexibility to create new environments for testing purpose. The proposed simulator is intended to save researchers time and energy to set up actual testing. An advanced rendering engine from the game engine is used to render the visually realistic environment; an integrated physics engine from Gazebo is used to mimic the real-world dynamics. To examine the simulator, we have run an inspection algorithm in a self-created3 D simulated environment. The simulated aircraft completed the task accurately and acted similarly to the actual dynamic situation. Compared with the existing simulations, the key contributions of this project are: (1) simulating both visual perception sensors and Lidar point cloud sensors, (2) establishing the sensors data communication, and (3) integrating researchers’ algorithms successfully. We conclude that the simulator meets the specific requirements for our target users thereupon. |
| first_indexed | 2024-10-01T05:37:29Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/150344 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:37:29Z |
| publishDate | 2021 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1503442023-07-07T18:20:41Z Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection Eng, Yean Khai Xie Lihua School of Electrical and Electronic Engineering Cao Muqing ELHXIE@ntu.edu.sg Engineering::Electrical and electronic engineering Unmanned aircraft algorithm testing requires expensive investments in resources. Simulators areapproaches to conduct the testing before deploying the algorithm on an actual drone. Notwithstanding many available simulators in the market, there are some trades-off using those simulators in our research. In this project, we aim to develop a simulator that is suitable for simulating autonomous drone mission in outdoor structural inspection scenarios. The key requirements for the simulator are (1) realistic environment providing accurate sensors output, (2) responsive physics engine forthe real-time dynamics control, and (3) flexibility to create new environments for testing purpose. The proposed simulator is intended to save researchers time and energy to set up actual testing. An advanced rendering engine from the game engine is used to render the visually realistic environment; an integrated physics engine from Gazebo is used to mimic the real-world dynamics. To examine the simulator, we have run an inspection algorithm in a self-created3 D simulated environment. The simulated aircraft completed the task accurately and acted similarly to the actual dynamic situation. Compared with the existing simulations, the key contributions of this project are: (1) simulating both visual perception sensors and Lidar point cloud sensors, (2) establishing the sensors data communication, and (3) integrating researchers’ algorithms successfully. We conclude that the simulator meets the specific requirements for our target users thereupon. Bachelor of Engineering (Electrical and Electronic Engineering) 2021-06-13T12:34:26Z 2021-06-13T12:34:26Z 2021 Final Year Project (FYP) Eng, Y. K. (2021). Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/150344 https://hdl.handle.net/10356/150344 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Eng, Yean Khai Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection |
| title | Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection |
| title_full | Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection |
| title_fullStr | Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection |
| title_full_unstemmed | Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection |
| title_short | Realistic simulation of unmanned aerial vehicle (UAV) executing task of large outdoor structure inspection |
| title_sort | realistic simulation of unmanned aerial vehicle uav executing task of large outdoor structure inspection |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/150344 |
| work_keys_str_mv | AT engyeankhai realisticsimulationofunmannedaerialvehicleuavexecutingtaskoflargeoutdoorstructureinspection |