Development of an autopilot system for rapid prototyping of high level control algorithms final.pdf (1.76 MB)
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Development of an autopilot system for rapid prototyping of high level control algorithms

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conference contribution
posted on 20.05.2013, 08:57 by Matthew Coombes, Owen McAree, Wen-Hua ChenWen-Hua Chen, Peter M. Render
This paper describes the development of a system for the rapid prototyping of high level control algorithms using an Arduino based commercial off the shelf autopilot called ArduPilot. It is capable of controlling multiple vehicle types, including fixed, and rotary wing aircraft as well as ground vehicles. The inner loop control is performed by ArduPilot, so the high level control can be rapidly prototyped and tested in Simulink, or an embedded system. The ability to conduct tests in software and hardware in the loop has also be developed, to enable safe testing of algorithms, which will speed up the development process. To show its functionality and ability to assist with the development process of algorithms, ArduPilot is used with a remote controlled aircraft in simulation and in real world testing to verify newly developed high level algorithms for UAVs.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Citation

COOMBES, M. ... et al, 2012. Development of an autopilot system for rapid prototyping of high level control algorithms. Proceedings of the 2012 UKACC International Conference on Control, CONTROL 2012, 3-5 September, Cardiff, pp.292-297.

Publisher

© IEEE

Version

AM (Accepted Manuscript)

Publication date

2012

Notes

© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

ISBN

9781467315593

Language

en