視覚ベース自律飛行のためのF'とROS2ハイブリッドアーキテクチャ：設計と実験的検証
Hybrid F' and ROS2 Architecture for Vision-Based Autonomous Flight: Design and Experimental Validation
NASAのF'フライトソフトウェアとROS2をProtocol Buffersで連携させ、屋内クアッドコプターの視覚ナビゲーション飛行実験でリアルタイム性能と統合の堅牢性を検証した。
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著者: Abdelrahman Metwally, Monijesu James, Aleksey Fedoseev, Miguel Altamirano Cabrera, Dzmitry Tsetserukou, Andrey Somov
分類: cs.RO
原文アブストラクト
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2 middleware via Protocol Buffers bridging. We evaluate the architecture through a 32.25-minute indoor quadrotor flight test using vision-based navigation. The vision system achieved 87.19 Hz position estimation with 99.90\% data continuity and 11.47 ms mean latency, validating real-time performance requirements. All 15 ground commands executed successfully with 100 % success rate, demonstrating robust F'--PX4 integration. System resource utilization remained low (15.19 % CPU, 1,244 MB RAM) with zero stale telemetry messages, confirming efficient operation on embedded platforms. Results validate the feasibility of hybrid flight-software architectures combining certification-grade determinism with flexible autonomy for autonomous aerial vehicles.
