We present a real-time hardware-in-the-loop simulation environment for the validation of a new hierarchical path planning and control algorithm for a small fixed-wing unmanned aerial vehicle (UAV). The complete control algorithm is validated through on-board, real-time implementation on a small autopilot having limited computational resources. We present two distinct real-time software frameworks for implementing the overall control architecture, including path planning, path smoothing, and path following. We emphasize, in particular, the use of a real-time kernel, which is shown to be an effective and robust way to accomplish real-time operation of small UAVs under non-trivial scenarios. By seamless integration of the whole control hierarchy using the real-time kernel, we demonstrate the soundness of the approach. The UAV equipped with a small autopilot, despite its limited computational resources, manages to accomplish sophisticated unsupervised navigation to the target, while autonomously avoiding obstacles.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Real-time implementation and validation of a new hierarchical path planning scheme of UAVs via hardware-in-the-loop simulation


    Weitere Titelangaben:

    Echtzeit-Implementierung und Validierung einer neuen hierarchischen Bahnplanung für UAVs durch HIL-Simulation


    Beteiligte:
    Jung, Dongwon (Autor:in) / Ratti, Jayant (Autor:in) / Tsiotras, Panagiotis (Autor:in)


    Erscheinungsdatum :

    2008


    Format / Umfang :

    19 Seiten, 11 Bilder, 1 Tabelle, 30 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch