TY - GEN
T1 - Development of an autopilot system for rapid prototyping of high level control algorithms
AU - Coombes, Matthew
AU - McAree, Owen
AU - Chen, Wen Hua
AU - Render, Peter
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
KW - algorithm development
KW - Autopilot
KW - hardware in the loop
KW - rapid prototyping
KW - software in the loop
UR - http://www.scopus.com/inward/record.url?scp=84869437558&partnerID=8YFLogxK
U2 - 10.1109/CONTROL.2012.6334645
DO - 10.1109/CONTROL.2012.6334645
M3 - Conference article published in proceeding or book
AN - SCOPUS:84869437558
SN - 9781467315609
T3 - Proceedings of the 2012 UKACC International Conference on Control, CONTROL 2012
SP - 292
EP - 297
BT - Proceedings of the 2012 UKACC International Conference on Control, CONTROL 2012
T2 - 2012 UKACC International Conference on Control, CONTROL 2012
Y2 - 3 September 2012 through 5 September 2012
ER -