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Development Of An Fpga Based Autopilot Hardware Platform For Research And Development Of Autonomous Systems
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Book Synopsis Development of an FPGA Based Autopilot Hardware Platform for Research and Development of Autonomous Systems by : Wendy Alvis
Download or read book Development of an FPGA Based Autopilot Hardware Platform for Research and Development of Autonomous Systems written by Wendy Alvis and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: Unmanned vehicles, both ground and aerial, have become prevalent in recent years. The research community has different needs than the industrial community when designing a finalized unmanned system since the vehicle, the sensors and the control design are dynamic and change frequently as new ideas are developed and implemented. Current autopilot hardware, which is available as on-the-market products and proposed in research, is sufficient for unmanned systems design. However, this equipment falls short of being able to accommodate the needs of those in the research community who must be able to quickly implement new ideas on a flexible platform. The contribution of this research is the realization of a hardware platform, which provides for rapid implementation of newly developed theory. Rapid implementation is gained by providing for software development from within the Simulink environment and utilizing previously unrealized flexibility in sensor selection. In addition to the development of the hardware platform, research was performed within Simulink's System Generator environment in order to complement the hardware. The software produced consists of a user template that integrates to the selected hardware. The template creates a user friendly environment, which provides the end user the capability to develop software algorithms from within the Simulink environment. This capability facilitates the final step of full hardware implementation. The major novelty of the research was the overall FPGA based autopilot design. The approach provided flexibility, functionality and generality. The approach is also suitable for and applicable to the design of multiple platforms. This research yielded a first time approach to the development of an unmanned systems autopilot platform by utilizing: -Development of programmable voltage level digital Input/Output (I/O), ports, -Utilization of Field Programmable Analog Arrays (FPAA), -Hardware capabilities to allow for integration with full computer systems, -A full Field Programmable Gate Array (FPGA), implementation, -Full integration of the hardware within Simulink's System Generator Toolbox.
Book Synopsis The Development of a Linux and FPGA Based Autopilot System for Unmanned Aerial Vehicles by : William Clifford Sleeman IV.
Download or read book The Development of a Linux and FPGA Based Autopilot System for Unmanned Aerial Vehicles written by William Clifford Sleeman IV. and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This project is part of research funded by NASA Langley in field of Unmanned Aerial Vehicles (UAVs) and is based on past work conducted at Virginia Commonwealth University. Dr. Mark A. Motter of NASA Langley intends to use the new autopilot system to test aircraft with many control surfaces. The goal of this project is to port an existing UAV autopilot system that has more computing power than the previous generation system to allow for more advanced flight control algorithms. The steps taken to complete this project include choosing a new hardware platform, porting C flight control software from a MicroBlaze platform to a PowerPC platform, and developing FPGA based hardware to interface with external sensors. The Suzaku-V based system was shown to have much better computing performance than the previous system, and several successful test flights have proved the viability of the new autopilot system.
Book Synopsis The Development of an FPGA-based Autopilot for Unmanned Aerial Vehicles by : Quan Cheng
Download or read book The Development of an FPGA-based Autopilot for Unmanned Aerial Vehicles written by Quan Cheng and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This work is part of an on-going research project at Virginia Commonwealth University in the field of Unmanned Aerial Vehicles (UAVs). The purpose of this thesis project is to port the previous generation of UAV autopilot from the Atmel FPSLIC platform to the Xilinx MicroBlaze platform in order to provide a test-bed that will accommodate future research projects. The tasks include porting the software from the AVR processor located on the FPSLIC to the MicroBlaze processor and implementing the hardware peripherals in Xilinx FPGA. The UAV equipped with the new autopilot can autonomously navigate through pre-defined waypoints and transmit the collected data back to the ground base station for analysis.
Book Synopsis Development of a Flexible FPGA-based Platform for Flight Control System Research by : Robert C. DeMott (II.)
Download or read book Development of a Flexible FPGA-based Platform for Flight Control System Research written by Robert C. DeMott (II.) and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This work is part of ongoing research conducted at Virginia Commonwealth University relating to unmanned aerial vehicles. The primary objective of this thesis was to develop a flexible, high-performance autopilot platform in order to facilitate research on advanced flight control algorithms. A dual FPGA-based system architecture utilizing a stacked, multi-board design was created to meet this goal. Processing tasks were split between the two FPGA devices, allowing for improved system timing and increased throughput. A combination of analog and digital filtering techniques were employed in the new system, resulting in enhanced sensor accuracy and precision compared to the previous generation autopilot system. Several important improvements to the safety and reliability of the overall system were also achieved.
Book Synopsis Autopilot Design and Commercial Autopilot Evaluation Using Flybarless Helicopter by : Ahmad Alshoubaki
Download or read book Autopilot Design and Commercial Autopilot Evaluation Using Flybarless Helicopter written by Ahmad Alshoubaki and published by . This book was released on 2014 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: "In its effort to develop unmanned autonomous systems research capabilities, the College of Engineering is adding a rotary wing UAV to its research activities. The current thesis goal is to use the Maxi Joker 3 commercially-off-the-shelf (COTS) electric RC helicopter as a platform and fit it with a commercial autopilot system to serve as a benchmark for future AUS rotary wing in-house autopilot development. To achieve this goal, the thesis develops the helicopter flight simulator with added hardware-in-the-loop simulation capabilities to aid the rapid prototyping of flight control laws and the guidance algorithms. Rigorous flight dynamics simulation model was implemented with Matlab/Simulink environment. Hardware-in-the-loop simulation was carried out using the freescale MPC555 32 bits microcontroller based autopilot hardware developed in house. Flight tests data was used to refine the dynamics models and improve the simulation. The thesis developed autopilot for aircraft attitude control for hover flight conditions. The control lows are based on PID successive loop closure architecture using the linearized helicopter model. The tuned gains were simulated using the nonlinear model. The in house autopilot hardware-in-the- loop- simulation showed promising results compared with flight test data collected with the Micropilot commercial autopilot test results. Later, the in house autopilot was fitted to the MaxiJocker 3 aircraft for flight test evaluation. Limited flight test data showed excellent results compared with the Micropilot commercial autopilot test results."--Abstract.
Book Synopsis Implementation of Unmanned Vehicle Control on FPGA Based Platform Using System Generator by : Shashikala Narasimha Murthy
Download or read book Implementation of Unmanned Vehicle Control on FPGA Based Platform Using System Generator written by Shashikala Narasimha Murthy and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: The goal of this research was to explore a new and improved software development tool for the implementation of control algorithms on Xilinx Field Programmable Gate Arrays (FPGA). The Simulink plug in, System Generator, complements traditional Hardware Description Language (HDL) by providing a higher level graphical language for the development of FPGA designs. The design is then translated into the lower level required by the Xilinx's ISE program. By utilizing this graphical based higher level of abstraction at the design entry level, the requirement of a detailed knowledge of HDL languages is no longer required. Because of this new environment the time required to implement the previously developed control design on the FPGA is reduced. The initial work began with a study of System Generator capabilities. One of the primary areas of interest is the difference on how the mathematical model representations are implemented between Simulink and the logic based hardware. From this initial work, a methodology for conversion between the developed and verified Simulink design and hardware implementation was obtained. As a case study, a control design was implemented for a Simulink model of an Unmanned Ground Vehicle (UGV) based on an RC-Truck. The control system consists of a simple mission planner to generate a vector of waypoints, a proportional-integral velocity controller and a proportional heading controller. The derived hardware design process is then utilized and validated by converting the control system into the available System Generator blocks. The final verification of the FPGA design was a hardware-in-the-loop simulation utilizing a Xilinx prototyping board. This design example demonstrated the validity of the presented approach as an efficient and reliable method for rapid system prototyping for designs developed within the Simulink environment.
Book Synopsis Collaborative Autonomous Unmanned Aerial - Ground Vehicle Systems for Field Operations by :
Download or read book Collaborative Autonomous Unmanned Aerial - Ground Vehicle Systems for Field Operations written by and published by . This book was released on 2007 with total page 29 pages. Available in PDF, EPUB and Kindle. Book excerpt: A heterogeneous UAV-UGV system with adaptable operational procedures/protocols for asset coordination, cooperation, decision-making, efficient communication and processing between its assets, meeting mission objectives is modeled and evaluated experimentally, by simulation and using prototype systems. The research has resulted in i) Development of a processing system for UGVs/UAVs that incorporate an on-board processing vision systems using low cost and highly adaptable motherboards meeting strict payload capabilities of miniature aerial vehicles and ground vehicles, including building and testing of four UGVs and one unmanned helicopter that utilize this system; ii) Development of a proposed FPGA based autopilot design that allows for future system improvements by providing an easily programmed, dedicated hardware platform that will work with extremely small payload capacity vehicles and compliment the existing system by removing tight timing requirements for low level controls and data acquisition from the existing processing system; iii) Designing and testing decentralized PID and fuzzy logic, LQR, and model predictive controllers for small unmanned helicopters; iv) Testing and implementing in hardware UGVs as heterogeneous swarms not maintaining one particular formation but having the ability to modify formation in the event of member or configuration loss, or addition of new team member; v) Incorporating MANET technology to allow a group of vehicles to extend the area of coverage by relying information from distant sources to the main station through 'routing' vehicles; vi) Development of localization techniques and vision based navigation; vii) Development of a proposed design for a UGV based mobile landing platform along with an analysis of available batteries and power requirements that led to recommendations for improvement of the endurance.
Book Synopsis Design and Development of Intelligent Navigation Control Systems for Autonomous Robots that Uses Neural Networks and Fuzzy Logic Techniques and FPGA for Its Implementation by : Christopher James Jeanniton
Download or read book Design and Development of Intelligent Navigation Control Systems for Autonomous Robots that Uses Neural Networks and Fuzzy Logic Techniques and FPGA for Its Implementation written by Christopher James Jeanniton and published by . This book was released on 2010 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: Author's abstract: This research compares the behavior of three robot navigation controllers namely: PID, Artificial Neural Networks (ANN), and Fuzzy Logic (FL), that are used to control the same autonomous mobile robot platform navigating a real unknown indoor environment that contains simple geometric-shaped static objects to reach a goal in an unspecified location. In particular, the study presents and compares the design, simulation, hardware implementation, and testing of these controllers. The first controller is a traditional linear PID controller, and the other two are intelligent non-linear controllers, one using Artificial Neural Networks and the other using Fuzzy Logic Techniques. Each controller is simulated first in MATLAB® using the Simulink Toolbox. Later the controllers are implemented using Quartus ll® software and finally the hardware design of each controller is implemented and downloaded to a Field-Programmable Gate Array (FPGA) card which is mounted onto the mobile robot platform. The response of each controller was tested in the same physical testing environment using a maze that the robot should navigate avoiding obstacles and reaching the desired goal. To evaluate the controllers' behavior each trial run is graded with a standardized rubric based on the controllers' ability to react to situations presented within the trial run. The results of both the MATLAB® simulation and FPGA implementation show the two intelligent controllers, ANN and FL, outperformed the PID controller. The ANN controller was marginally superior to the FL controller in overall navigation and intelligence.
Book Synopsis Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control by : Zhang Ren
Download or read book Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control written by Zhang Ren and published by Springer Nature. This book was released on 2022-07-29 with total page 1902 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control (CCSICC2021), held in Shenzhen, China on January 19-22, 2022. The topics covered include but are not limited to: reviews and discussions of swarm intelligence, basic theories on swarm intelligence, swarm communication and networking, swarm perception, awareness and location, swarm decision and planning, cooperative control, cooperative guidance, swarm simulation and assessment. The papers showcased here share the latest findings on theories, algorithms and applications in swarm intelligence and cooperative control, making the book a valuable asset for researchers, engineers, and university students alike.
Book Synopsis Robotic Computing on FPGAs by : Shaoshan Liu
Download or read book Robotic Computing on FPGAs written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2021-06-30 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a thorough overview of the state-of-the-art field-programmable gate array (FPGA)-based robotic computing accelerator designs and summarizes their adopted optimized techniques. This book consists of ten chapters, delving into the details of how FPGAs have been utilized in robotic perception, localization, planning, and multi-robot collaboration tasks. In addition to individual robotic tasks, this book provides detailed descriptions of how FPGAs have been used in robotic products, including commercial autonomous vehicles and space exploration robots.
Book Synopsis The 2005 DARPA Grand Challenge by : Martin Buehler
Download or read book The 2005 DARPA Grand Challenge written by Martin Buehler and published by Springer Science & Business Media. This book was released on 2007-09-06 with total page 1103 pages. Available in PDF, EPUB and Kindle. Book excerpt: The DARPA Grand Challenge was a landmark in the field of robotics: a race by autonomous vehicles through 132 miles of rough Nevada terrain. It showcased exciting and unprecedented capabilities in robotic perception, navigation, and control. The event took place in October 2005 and drew teams of competitors from academia and industry, as well as many garage hobbyists. This book presents fifteen technical papers that describe each team's driverless vehicle, race strategy, and insights. As a whole, they present the state of the art in autonomous vehicle technology and offer a glimpse of future technology for tomorrow’s driverless cars.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1992 with total page 1572 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis FPGA Algorithms and Applications for the Internet of Things by : Sharma, Preeti
Download or read book FPGA Algorithms and Applications for the Internet of Things written by Sharma, Preeti and published by IGI Global. This book was released on 2020-03-30 with total page 257 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the research area of computer science, practitioners are constantly searching for faster platforms with pertinent results. With analytics that span environmental development to computer hardware emulation, problem-solving algorithms are in high demand. Field-Programmable Gate Array (FPGA) is a promising computing platform that can be significantly faster for some applications and can be applied to a variety of fields. FPGA Algorithms and Applications for the Internet of Things provides emerging research exploring the theoretical and practical aspects of computable algorithms and applications within robotics and electronics development. Featuring coverage on a broad range of topics such as neuroscience, bioinformatics, and artificial intelligence, this book is ideally designed for computer science specialists, researchers, professors, and students seeking current research on cognitive analytics and advanced computing.
Book Synopsis Multicopter Design and Control Practice by : Quan Quan
Download or read book Multicopter Design and Control Practice written by Quan Quan and published by Springer Nature. This book was released on 2020-04-17 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the sister book to “Introduction to Multicopter Design and Control,” published by Springer in 2017, this book focuses on using a practical process to help readers to deepen their understanding of multicopter design and control. Novel tools with tutorials on multicopters are presented, which can help readers move from theory to practice. Experiments presented in this book employ: (1) The most widely-used flight platform – multicopters – as a flight platform; (2) The most widely-used flight pilot hardware – Pixhawk – as a control platform; and (3) One of the most widely-used programming languages in the field of control engi-neering – MATLAB + Simulink – as a programming language. Based on the current advanced development concept Model-Based Design (MBD)process, the three aspects mentioned above are closely linked. Each experiment is implemented in MATLAB and Simulink, and the numerical simula-tion test is carried out on a built simulation platform. Readers can upload the controller to the Pixhawk autopilot using automatic code generation technology and form a closed loop with a given real-time simulator for Hardware-In-the-Loop (HIL) testing. After that, the actual flight with the Pixhawk autopilot can be performed. This is by far the most complete and clear guide to modern drone fundamentals I’ve seen.It covers every element of these advanced aerial robots and walks through examples and tutorials based on the industry’s leading open-source software and tools. Read this book, and you’ll be well prepared to work at the leading edge of this exciting new industry. Chris Anderson, CEO 3DR and Chairman, the Linux Foundation’s Dronecode Project The development of a multicopter and its applications is very challenging in the robotics area due to the multidomain knowledge involved. This book systematically addresses the design, simulation and implementation of multicopters with the industrial leading workflow – Model-Based Design, commonly used in the automotive and aero-defense industries. With this book, researchers and engineers can seamlessly apply the concepts, workflows, and tools in other engineering areas, especially robot design and robotics ap-plication development. Dr. Yanliang Zhang, Founder of Weston Robot, EX-product Manager of Robotics System Toolbox at the MathWorks
Book Synopsis The Zynq Book by : Louise H. Crockett
Download or read book The Zynq Book written by Louise H. Crockett and published by . This book was released on 2014 with total page 460 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about the Zynq-7000 All Programmable System on Chip, the family of devices from Xilinx that combines an application-grade ARM Cortex-A9 processor with traditional FPGA logic fabric. Catering for both new and experienced readers, it covers fundamental issues in an accessible way, starting with a clear overview of the device architecture, and an introduction to the design tools and processes for developing a Zynq SoC. Later chapters progress to more advanced topics such as embedded systems development, IP block design and operating systems. Maintaining a 'real-world' perspective, the book also compares Zynq with other device alternatives, and considers end-user applications. The Zynq Book is accompanied by a set of practical tutorials hosted on a companion website. These tutorials will guide the reader through first steps with Zynq, following on to a complete, audio-based embedded systems design.
Book Synopsis Computing Systems for Autonomous Driving by : Weisong Shi
Download or read book Computing Systems for Autonomous Driving written by Weisong Shi and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book on computing systems for autonomous driving takes a comprehensive look at the state-of-the-art computing technologies, including computing frameworks, algorithm deployment optimizations, systems runtime optimizations, dataset and benchmarking, simulators, hardware platforms, and smart infrastructures. The objectives of level 4 and level 5 autonomous driving require colossal improvement in the computing for this cyber-physical system. Beginning with a definition of computing systems for autonomous driving, this book introduces promising research topics and serves as a useful starting point for those interested in starting in the field. In addition to the current landscape, the authors examine the remaining open challenges to achieve L4/L5 autonomous driving. Computing Systems for Autonomous Driving provides a good introduction for researchers and prospective practitioners in the field. The book can also serve as a useful reference for university courses on autonomous vehicle technologies.
Book Synopsis Exploring Zynq Mpsoc by : Louise H Crockett
Download or read book Exploring Zynq Mpsoc written by Louise H Crockett and published by . This book was released on 2019-04-11 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the Zynq MPSoC (Multi-Processor System-on-Chip), an embedded device from Xilinx. The Zynq MPSoC combines a sophisticated processing system that includes ARM Cortex-A53 applications and ARM Cortex-R5 real-time processors, with FPGA programmable logic. As well as guiding the reader through the architecture of the device, design tools and methods are also covered in detail: both the conventional hardware/software co-design approach, and the newer software-defined methodology using Xilinx's SDx development environment. Featured aspects of Zynq MPSoC design include hardware and software development, multiprocessing, safety, security and platform management, and system booting. There are also special features on PYNQ, the Python-based framework for Zynq devices, and machine learning applications. This book should serve as a useful guide for those working with Zynq MPSoC, and equally as a reference for technical managers wishing to gain familiarity with the device and its associated design methodologies.
