UnmannedSim: Urban and Multi-Agent Navigation Network-Enabled Drones Simulator for Path Planning and Localization Research

Sugata Ahad, Wai Ching Lucas Shiu, Xin Yue Huang, DM Zahin Sajid, Max Jwo Lem Lee, Meiling Su, Li Ta Hsu

Abstract:	The possibility of deploying unmanned aerial vehicles (UAV) for smart city applications has sparked great interest in recent times. High-density cities like Hong Kong, Tokyo and New York have been moving forward to automation to lighten the load of the cities, as well as to provide a time saving, yet safe environment for their citizens. Simulating such UAV activities before practical implementation has therefore turned into a necessity. However, simulation of cities through traditional methods do not replicate the real-life errors in navigation caused by high-density tall buildings, variable wind speed, GNSS sensor measurement errors and other factors. In our research, we have built a new simulator named UnmannedSim which utilizes popular existing software packages such as AirSim and Unreal Engine while adding real-life errors to the simulator.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	1217 - 1227
Cite this article:	Ahad, Sugata, Shiu, Wai Ching Lucas, Huang, Xin Yue, Sajid, DM Zahin, Lee, Max Jwo Lem, Su, Meiling, Hsu, Li Ta, "UnmannedSim: Urban and Multi-Agent Navigation Network-Enabled Drones Simulator for Path Planning and Localization Research," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 1217-1227. https://doi.org/10.33012/2021.18057
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