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The Development Of A Linux And Fpga Based Autopilot System For Unmanned Aerial Vehicles
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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 Autopilot System for an Unmanned Aerial Vehicle (Uav) by : Zain Zafar
Download or read book Autopilot System for an Unmanned Aerial Vehicle (Uav) written by Zain Zafar and published by LAP Lambert Academic Publishing. This book was released on 2011-03 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: AUTOPILOT SYSTEM FOR AN UNMANNED AERIAL VEHICLE (UAV) contains Autonomous Navigation and Control system for a fixed wing plane (Autopilot system). The project includes the Adaptive Neuro Fuzzy Inference Based Control system Development, and programming it into single board computer installed in the model aircraft. The software architecture was developed using C++ language in Linux operating system. All sensors, necessary for the control are interfaced with the system. It also includes Live data transmission with graphical representation in MATLAB (defining all states of the aircraft during flight); live video transmission for surveillance purpose and Intelligent control system for Online System Identification was developed & tested on a real flight.
Book Synopsis Control of Autonomous Aerial Vehicles by : Andrea L'Afflitto
Download or read book Control of Autonomous Aerial Vehicles written by Andrea L'Afflitto and published by Springer Nature. This book was released on 2023-11-20 with total page 363 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Autonomous Aerial Vehicles is an edited book that provides a single-volume snapshot on the state of the art in the field of control theory applied to the design of autonomous unmanned aerial vehicles (UAVs), aka “drones”, employed in a variety of applications. The homogeneous structure allows the reader to transition seamlessly through results in guidance, navigation, and control of UAVs, according to the canonical classification of the main components of a UAV’s autopilot. Each chapter has been written to assist graduate students and practitioners in the fields of aerospace engineering and control theory. The contributing authors duly present detailed literature reviews, conveying their arguments in a systematic way with the help of diagrams, plots, and algorithms. They showcase the applicability of their results by means of flight tests and numerical simulations, the results of which are discussed in detail. Control of Autonomous Aerial Vehicles will interest readers who are researchers, practitioners or graduate students in control theory, autonomous systems or robotics, or in aerospace, mechanical or electrical engineering.
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 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 Development of a Low Cost Autopilot System for Unmanned Aerial Vehicles by : Jose Enrique Ortiz
Download or read book Development of a Low Cost Autopilot System for Unmanned Aerial Vehicles written by Jose Enrique Ortiz and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this thesis was to develop a low cost autonomous flight control system for small unmanned aerial vehicles with the aim to support collaborative systems. A low cost hardware solution was achieved by careful selection of sensors, integration of hardware subsystems, and the use of new microcontroller technologies. Flight control algorithms to guide a vehicle though waypoint based flight paths and loiter about a point were implemented using direction fields. A hardware in the loop simulator was developed to ensure proper operation of all hardware and software components prior to flight testing. The resulting flight control system achieved stable and accurate flight while reducing the total system cost to less than $250.
Book Synopsis A Distributed Embedded Software Architecture for Multiple Unmanned Aerial Vehicles by : Michael J. Matczynski
Download or read book A Distributed Embedded Software Architecture for Multiple Unmanned Aerial Vehicles written by Michael J. Matczynski and published by . This book was released on 2006 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: In order to deploy intelligent, next-generation applications on Unmanned Aerial Vehicles (UAVs), we must first develop a software architecture that supports onboard computation and flexible communication. This thesis presents an Onboard Planning Module developed from an embedded PC/104 Linux-based computer that communicates directly with the UAV's autopilot to retrieve telemetry data and update the UAV's flight path. A serial communication program exchanges data with the UAV's autopilot while a multithreaded module enables concurrent onboard Mixed-Integer Linear Programming (MILP) optimization. The Mission Manager Graphical User Interface (GUI) monitors the status of each Onboard Planning Module on a team of UAVs using the onboard planning protocol. Two task assignment scenarios are simulated to demonstrate the system operating with both a single and multiple UAV task selection algorithm.
Book Synopsis Unmanned Aerial Vehicles Applications: Challenges and Trends by : Mohamed Abdelkader
Download or read book Unmanned Aerial Vehicles Applications: Challenges and Trends written by Mohamed Abdelkader and published by Springer Nature. This book was released on 2023-06-29 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a book that covers different aspects of UAV technology, including design and development, applications, security and communication, and legal and regulatory challenges. The book is divided into 13 chapters, grouped into four parts. The first part discusses the design and development of UAVs, including ROS customization, structured designs, and intelligent trajectory tracking. The second part explores diverse applications such as search and rescue, monitoring distributed parameter systems, and leveraging drone technology in accounting. The third part focuses on security and communication challenges, including security concerns, multi-UAV systems, and communications security. The final part delves into the legal and regulatory challenges of integrating UAVs into non-segregated airspace. The book serves as a valuable resource for researchers, practitioners, and students in the field of unmanned aerial vehicles, providing a comprehensive understanding of UAV technology and its applications.
Book Synopsis The Development of a Hardware-in-the-Loop Simulation System for Unmanned Aerial Vehicle Autopilot Design Using LabVIEW by : Yun-Ping Sun
Download or read book The Development of a Hardware-in-the-Loop Simulation System for Unmanned Aerial Vehicle Autopilot Design Using LabVIEW written by Yun-Ping Sun and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The Development of a Hardware-in-the-Loop Simulation System for Unmanned Aerial Vehicle Autopilot Design Using LabVIEW.
Book Synopsis Design and Rapid Prototyping of Flight Control and Navigation System for an Unmanned Aerial Vehicle by : Bock Aeng Lim
Download or read book Design and Rapid Prototyping of Flight Control and Navigation System for an Unmanned Aerial Vehicle written by Bock Aeng Lim and published by . This book was released on 2002-03-01 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: The work in this thesis is in support of a larger research effort to implement a cluster of autonomous airborne vehicles with the capability to conduct coordinated flight maneuver planning and to perform distributed sensor fusion, Specifically, it seeks to design and implement an onboard flight control and navigation system for NPS FROG UAV, which will be used as the autonomous airborne vehicle for the research, using the newly marketed xPC Target Rapid Prototyping System from The Mathworks, Inc Part I briefly introduces the aircraft and explains the necessity for an onboard computer for the UAV. Part II describes the construction of the miniature aircraft computer, INS/GPS and air data sensor integration implementation as well as the rapid prototyping process. Part III covers the process to create a 6DOF model for the aircraft and the design of the aircraft autopilot, while Part IV presents a vision-based navigation algorithm that can be implemented on the UAV to give it some form of autonomous flight trajectory planning capability. Preliminary ground test results are presented in Part V to conclude this study.
Author :National Aeronautics and Space Administration (NASA) Publisher :Createspace Independent Publishing Platform ISBN 13 :9781720602118 Total Pages :68 pages Book Rating :4.6/5 (21 download)
Book Synopsis Integration of an Autopilot for a Micro Air Vehicle by : National Aeronautics and Space Administration (NASA)
Download or read book Integration of an Autopilot for a Micro Air Vehicle written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-06 with total page 68 pages. Available in PDF, EPUB and Kindle. Book excerpt: Two autopilots providing autonomous flight capabilities are presented herein. The first is the Pico-Pilot, demonstrated for the 12-inch size class of micro air vehicles. The second is the MicroPilot MP2028(sup g), where its integration into a 36-inch Zagi airframe (tailless, elevons only configuration) is investigated and is the main focus of the report. Analytical methods, which include the use of the Advanced Aircraft Analysis software from DARCorp, were used to determine the stability and control derivatives, which were then validated through wind tunnel experiments. From the aerodynamic data, the linear, perturbed equations of motion from steady-state flight conditions may be cast in terms of these derivatives. Using these linear equations, transfer functions for the control and navigation systems were developed and feedback control laws based on Proportional, Integral, and Derivative (PID) control design were developed to control the aircraft. The PID gains may then be programmed into the autopilot software and uploaded to the microprocessor of the autopilot. The Pico-Pilot system was flight tested and shown to be successful in navigating a 12-inch MAV through a course defined by a number of waypoints with a high degree of accuracy, and in 20 mph winds. The system, though, showed problems with control authority in the roll and pitch motion of the aircraft: causing oscillations in these directions, but the aircraft maintained its heading while following the prescribed course. Flight tests were performed in remote control mode to evaluate handling, adjust trim, and test data logging for the Zagi with integrated MP2028(sup g). Ground testing was performed to test GPS acquisition, data logging, and control response in autonomous mode. Technical difficulties and integration limitations with the autopilot prevented fully autonomous flight from taking place, but the integration methodologies developed for this autopilot are, in general, applicable for unmanned air vehicles within the 36-inch size class or larger that use a PID control based autopilot.
Book Synopsis How to Design, Build and Operate a GPS-Guided Autopilot System for Rc Aircraft by : Nicholas Chaplin
Download or read book How to Design, Build and Operate a GPS-Guided Autopilot System for Rc Aircraft written by Nicholas Chaplin and published by GRIN Verlag. This book was released on 2015-06-03 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: Project Report from the year 2012 in the subject Engineering - Mechanical Engineering, grade: A, DeVry University, course: ECET 494, language: English, comment: This Senior Project is a documentation of the technical and software programming parameters involved in realizing the projects solutions. There was no factual flight presentation video. It was not practical given the geographical location of the team involved., abstract: The objective of this project is to design, build, and operate a GPS-Guided Autopilot system for Radio Controlled Aircraft. This product will have to be small, lightweight, aerodynamic, and modular. It will only have to rely on 1 channel input from the aircraft receiver for the RC/Autopilot switching function. It will have to be able to fly a predetermined route while having the ability for the consumer to override the autopilot feature if desired by using their remote control. Our RC aircraft autopilot system will be interfaced with a computer in order to program the way-points that will make up the flight plan. All of these objectives are critical in order to have a functional RC aircraft autopilot system. Our time frame for completion of this project is 32 weeks and our target for total cost for the build is $500. The product that we are proposing is a GPS-Guided Autopilot System designed for radio-controlled aircraft. This project is a modular RC/Autopilot Aircraft System that will be designed for small, inexpensive, and basic radio controlled unmanned aerial vehicles. Although our target market will be RC hobbyists that are interested in flying their airplanes autonomously, our system will also have the potential to expand to larger markets such as hobbyists flying helicopters as well as Unmanned Aerial Vehicles used in the military. There will be three phases to this project, Phase (1) is our goal and is dedicated as the Autopilot function once the aircraft has reached altitude. Phase (2) is the addition of Autopilot landing, and Pha
Book Synopsis Mazari UAV Adaptive Autopilot System Design and Implementation by : Sonny Adiansyah
Download or read book Mazari UAV Adaptive Autopilot System Design and Implementation written by Sonny Adiansyah and published by . This book was released on 2013 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Autonomous unmanned aerial vehicle (UAV) research started at AUS in 2005. Linear and nonlinear aircraft models and system identification of the aircraft system were developed to design flight control laws. Proportional-integral-derivative control laws as well as fuzzy logic supervisory control for fixed wing autopilots in cruise mode were developed. Hardware in the loop for UAV flight simulation was also developed. The current work focuses on designing control laws for takeoff, cruise, and landing, and conducting flight test verification of these law. Implementation of control laws for different flight modes need further study in switching between flight modes. A hybrid control scheme, which acts as a supervisory control for coordinating the conventional control laws for each flight mode is proposed. This involves the usage of a state-machine block to coordinate the transition of each of the flight modes. A way of using fuzzy logic control to map the gain values for different flight equilibrium states is developed and simulated in this work. The contributions of this thesis are the development of digital flight control system software and hardware"--Abstract.
Book Synopsis Learning-based Control and Coordination of Autonomous UAVs by : Adam R. Bell
Download or read book Learning-based Control and Coordination of Autonomous UAVs written by Adam R. Bell and published by . This book was released on 2010 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: Uninhabited aerial vehicles, also called UAVs are currently controller by a combination of a human pilot at a remote location, and autopilot systems similar to those found on commercial aircraft. As UAVs transition from remote piloting to fully autonomous operation, control laws must be developed for the tasks to be performed. Flight control and navigation are low-level tasks that must be performed by the UAV in order to complete more useful missions. In the domain of persistent aerial surveillance, in which UAVs are responsible for locating and continually observing points of interest (POIs) in the environment, such a mission can be accomplished much more efficiently by groups of cooperating UAVs. To develop the controller for a UAV, a discrete-time, physics-based simulator was developed in which an initially random neural network controller could be evolved over successive generations to produce the desired output. Because of the inherent complexity of navigating and maintaining stable flight, a novel state space utilizing an approximation of the flight path length between the aircraft and its navigational waypoint is developed and implemented. In choosing the controller output as the net thrust of the aircraft from all control surfaces and impellers, a controller suitable for a wide range of UAV types is reached. To develop a controller for each aircraft to cooperate in the persistent aerial surveillance domain, a behavior-based simulator was developed. Using this simulator, constraints on the flight dynamics are approximated to speed computation. Each UAV agent trains a neural network controller through successive episodes using sensory data about other aircraft and POIs. Testing of each controller was done by simulating in increasingly dynamic environments. The flight controller is shown to be able to successfully maintain heading and altitude and to make turns to ultimately reach a waypoint. The surveillance coordination controller is shown to coordinate UAVs well for both static and mobile POIs, and to scale well from systems of 3 agents to systems of 30 agents. Scaling of the controller to more agents is particularly effective when using a difference reward calculation in training the controllers.
Book Synopsis Self-Designing Control Systems for Piloted and Uninhabited Aerial Vehicles by :
Download or read book Self-Designing Control Systems for Piloted and Uninhabited Aerial Vehicles written by and published by . This book was released on 2001 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main advantage of self-designing flight control systems is their ability to optimize performance automatically, resulting in a substantial reduction of the cost and time needed for control law development. Self-designing control systems also reconfigure automatically after failures and damages, yielding greater chances of survival in dangerous conditions. A self-designing nonlinear autopilot was developed to interface with the high-level path planning of a UAV. The control algorithm is distinct from conventional autopilots in that it is not based on a known, linearized model of the aircraft. Instead, the algorithm compensates for nonlinear dynamic effects and adjusts its parameters automatically, exploiting the reconfiguration capabilities of an inner control loop designed using adaptive methods. A new control allocation algorithm was also developed, based on the direct allocation method of Durham. A special representation using spherical coordinates was used to speed-up the computations that must be performed at a high sampling rate. The direct allocation method was also extended to a class of systems that had previously been excluded, namely those for which some independent control surfaces produce linearly dependent moments. Finally, fast algorithms for optimal control allocation were developed based on linear programming techniques. It was observed that significant improvements in performance could be obtained at the cost of only modest increases in computations.
Book Synopsis Unmanned Aerial Systems by : Anis Koubaa
Download or read book Unmanned Aerial Systems written by Anis Koubaa and published by Academic Press. This book was released on 2021-01-21 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. - Covers some of the most innovative approaches to drones - Provides the latest state-of-the-art research and development surrounding unmanned aerial systems - Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area
