Framework for Evaluating Path Accuracy in UAV Indoor Operations
Gustavo De Barros, Marius Boshoff, Tommy Luong, Bernd Kuhlenkötter · 2023
In recent years, there has been an increased focus on using UAV s indoors. Businesses and academic institutions are now developing UAV s for a variety of purposes, such as inspection, security, inventory management, and transporting small goods. The publication presents a framework designed to evaluate path accuracy in indoor UAV operations. The framework uses open-source platforms, integrates a motion capture system, and makes use of advanced communication methods such as Wi-Fi 6 and 5G. It was developed in ROS2 for its robust tools and low-latency advantages. Additionally, it employs Gazebo for flight simulation and features a customized graphical interface for UAV control. The study also highlights the lack of standardized measuring techniques for position and path accuracy in UAV operations. The aim is to contribute to the evolution of UAV technology by analyzing the possibility of creating performance criteria for UAV s, similar to the standards established in industrial robots. Furthermore, the paper provides a detailed explanation of the system's architecture, hardware components, and software implementation. Validation tests are presented to assess the efficiency and accuracy of the proposed framework.