multiUAV Simulation in OMNeT++

• Stationary, mobile and airborne nodes (UAVs,...)
• Charging stations
• Mission control
• MAVLink commands based flight planning
• Energy consumption simulation
• Energy maintenance operations
• Optimization
• Visualization

Preparation

Boost is needed by this program. Please download here: http://www.boost.org/users/history/version_1_55_0.html Copy the folder boost into the subdirectory include-boost of the OMNeT++ base directory.

Example Result: C:\omnetpp-5.4\include-boost\boost\version.hpp

Running the simulation

Running in OMNeT++ IDE

In subdirectory ./run_config you can find predefined run and debug configuration ready to go with OMNeT++ IDE.

All launches are preconfigured to run the Gabelbach scenario.

• multiUAV-simulation cmdenv.launch 🡺 launches all runs without user interface (i.e. QTenv), that includes interating over all replacement modes and repeat for 10 times
• multiUAV-simulation cmdenv (0).launch 🡺 launches without user interface Run 0, i.e. replacement mode 0 and no repetition
• multiUAV-simulation debug.launch 🡺 launches the simulation with user interface, with debug information (should be run as debug) and Run 0
• multiUAV-simulation release.launch 🡺 launches the simulation with user interface in release state and Run 0

Results

Results for Gabelbach scenario will be placed in subdirectory ./results. Depending on your launch configuration, you will find a different amount of output files. However, for each successfully finished simulation run, there should be following files:

• *.elog: Eventlog
• *.out: everything written to the ouput console
• *.sca: scalar results that include the final results including the six main figures:
  • utilizationEnergyOverdrawMaintenance
  • utilizationEnergyOverdrawMission
  • utilizationEnergyMaintenance
  • utilizationEnergyMission
  • utilizationSecMaintenance
  • utilizationSecMission