Real-time Implementation and Validation of a New Hierarchical Path Planning Scheme of UAVs via Hardware-in-the-Loop Simulation

Dongwon Jung (), Jayant Ratti () and Panagiotis Tsiotras ()
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Dongwon Jung: Georgia Institute of Technology
Jayant Ratti: Georgia Institute of Technology
Panagiotis Tsiotras: Georgia Institute of Technology

A chapter in Unmanned Aircraft Systems, 2008, pp 163-181 from Springer

Abstract: Abstract 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.

Keywords: Path planning and control; Hardware-in-the-loop simulation (HILS); UAV (search for similar items in EconPapers)
Date: 2008
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-1-4020-9137-7_10

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DOI: 10.1007/978-1-4020-9137-7_10

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