箱庭技術を活用したPX4向けドローンシミュレータの検討

抄録

For the development of drones, which are a good example of Cyber-Physical Systems where the information world and the physical world are integrated, it is essential to introduce a simulator that can easily verify the consistency of the plant model. In this study, we propose a drone simulator for PX4 that utilizes the open-source Hakoniwa technology. The strengths of the proposed method include flexibility of the plant model and visualization engine, the ease of expanding the functionality of the sensor model, the automatic testing system, and parameterization of the external environment and drone characteristics. We implemented the proposed method and demonstrated that the simulator can realize textbook physical equations and simulate its behavior as a verification of its operation.