Title:
Real-time Implementation and Validation of a New Hierarchical Path Planning Scheme for UAVs via Hardware-in-the-Loop Simulation
Real-time Implementation and Validation of a New Hierarchical Path Planning Scheme for UAVs via Hardware-in-the-Loop Simulation
Author(s)
Jung, Dongwon
Ratti, Jayant
Tsiotras, Panagiotis
Ratti, Jayant
Tsiotras, Panagiotis
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
We develop a hierarchical path planning and control algorithm for a small
fixed-wing UAV. Incorporating the hardware-in-the-loop (HIL) simulation environment, the hierarchical path planning and control algorithm has been validated through
on-board, real-time implementation on a small autopilot. We present two distinct real-time software framework for implementation of the overall control algorithms including path planning, path smoothing, and path following. We especially emphasize the use of a real-time kernel, which shows effectiveness and robustness in accomplishing
non-trivial real-time software environment. By a seamless integration of the control
algorithms with a help of real-time kernel, it has been demonstrated that the UAV
equipped with a small autopilot having limited computational resources manages to autonomously accomplish the mission control objective of reaching the goal while avoiding obstacles without human intervention.
Sponsor
Date Issued
2009
Extent
Resource Type
Text
Resource Subtype
Post-print