| 摘 要： |
The use of Unmanned Aerial Vehicles (UAVs) has exponentially grown in the last decades thanks to their versatility and ease of use. However, deploying a single large drone might not be efficient for completing tasks compared to the use of a heterogeneous swarm of smaller and lighter drones, which can better adapt to different application scenarios and reduce the mission time. In this sense, Search and Rescue (SAR) activities represent an important field of application. Heterogeneous multi-agent systems require ad-hoc Guidance, Navigation, and Control (GNC) algorithms to effectively manage the agents of the swarm. Hence, there is a need for an efficient simulator that allows for the validation of such GNC techniques, taking advantage of the positive aspects of a risk-free virtual environment before real-world deployment. In this sense, the main aim of this paper is to propose a heterogeneous Simulink-based multi-agent flight simulator that is able to support researchers in the representation of realistic scenarios before effectively conducting real tests. The effectiveness of the proposed simulator, which is part of the project "CHeMSys: Cooperative Heterogeneous Multi-drone System for disaster prevention and first response," is evaluated in several scenarios, considering ground, water, and air vehicles.
近年来，由于无人机的多功能性和易用性，其应用呈指数级增长。然而，与使用多个小型轻型无人机组成的异构群集相比，部署单架大型无人机在完成任务时可能效率较低，后者能更好地适应不同应用场景，并缩短任务执行时间。因此，搜救（SAR）活动成为重要的应用领域之一。异构多智能体系统需要采用临时性的引导、导航和控制（GNC）算法来有效管理群集中的智能体。为此，有必要开发一种高效的仿真器，以便在真实部署前利用无风险虚拟环境的优势，验证此类GNC技术。本文的主要目标是提出一种基于Simulink的异构多智能体飞行仿真器，帮助研究人员在开展实际测试前，能够真实地模拟各种场景。所提出的模拟器在“CHeMSys：用于灾害预防和初步响应的协作异构多无人机系统”项目中，针对地面、水面和空中载具的多种场景进行了有效性评估。 |
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