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.
Real-time implementation and validation of a new hierarchical path planning scheme of UAVs via hardware-in-the-loop simulation
Echtzeit-Implementierung und Validierung einer neuen hierarchischen Bahnplanung für UAVs durch HIL-Simulation
2008
19 Seiten, 11 Bilder, 1 Tabelle, 30 Quellen
Conference paper
English
British Library Conference Proceedings | 2008
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