ROScopter：基于 ROSflight 2.0 的多旋翼自动飞控
机器人学
2026-03-09 v2
摘要
ROScopter 是为研究人员构建的轻量级多旋翼自动飞控。ROScopter 旨在通过易于理解和简便修改的体系结构加快仿真和硬件测试研究代码的速度。ROScopter 设计用于与 ROSflight 2.0 接口，完全运行在 onboard flight computer 上，利用 ROS 2 的功能提高模块化程度。本工作描述了 ROScopter 的体系结构以及如何在仿真和硬件环境中用于测试应用程序代码。 presented of the default ROScopter behavior, showing that ROScopter achieves similar performance to another state-of-the-art autopilot for basic waypoint-following maneuvers, but with a significantly reduced and more modular code-base。
引用
@article{arxiv.2603.05404,
title = {ROScopter: A Multirotor Autopilot based on ROSflight 2.0},
author = {Jacob Moore and Ian Reid and Phil Tokumaru and Randy Beard and Tim McLain},
journal= {arXiv preprint arXiv:2603.05404},
year = {2026}
}
备注
Submitted to the 2026 International Conference on Unmanned Aerial Systems