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Title: Development of an autopilot system for rapid prototyping of high level control algorithms
Authors: Coombes, Matthew
McAree, Owen
Chen, Wen-Hua
Render, Peter M.
Keywords: Autopilot
Rapid prototyping
Algorithm development
Hardware in the loop
Software in the loop
Issue Date: 2012
Publisher: © IEEE
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.
Abstract: 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.
Description: © 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.
Version: Accepted for publication
DOI: 10.1109/CONTROL.2012.6334645
URI: https://dspace.lboro.ac.uk/2134/12318
Publisher Link: http://dx.doi.org/10.1109/CONTROL.2012.6334645
ISBN: 9781467315593
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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