ArduSoar: an Open-Source Thermalling Controller for Resource-Constrained Autopilots
نویسندگان
چکیده
Autonomous soaring capability has the potential to significantly increase time aloft for fixed-wing UAVs. In this paper, we introduce ArduSoar, the first soaring controller integrated into a major autopilot software suite for small UAVs. We describe ArduSoar from the algorithmic standpoint, outline its integration with the ArduPlane autopilot, and discuss tuning procedures and parameter choices for it.
منابع مشابه
The Design and Implementation of a Quadrotor Flight Controller Using the QUEST Algorithm
Formally posed in 1965, the problem of optimal attitude estimation from vector measurements has been a hot topic of research in the aerospace community. This paper provides a survey of open source quadrotor helicopter autopilots that demonstrates that the Unmanned Aerial Vehicle community has largely ignored the optimal attitude estimation work to date. Furthermore, the effectiveness of a quadr...
متن کاملAutopilots for Small Unmanned Aerial Vehicles: A Survey
This paper presents a survey of the autopilot systems for small or micro unmanned aerial vehicles (UAVs). The objective is to provide a summary of the current commercial, open source and research autopilot systems for convenience of potential small UAV users. The UAV flight control basics are introduced first. The radio control system and autopilot control system are then explained from both th...
متن کاملThe preemptive resource-constrained project scheduling problem subject to due dates and preemption penalties: An integer programming approach
Extensive research has been devoted to resource constrained project scheduling problem. However, little attention has been paid to problems where a certain time penalty must be incurred if activity preemption is allowed. In this paper, we consider the project scheduling problem of minimizing the total cost subject to resource constraints, earliness-tardiness penalties and preemption penalties, ...
متن کاملAN EXPERIMENTAL INVESTIGATION OF THE SOUNDS OF SILENCE METAHEURISTIC FOR THE MULTI-MODE RESOURCE-CONSTRAINED PROJECT SCHEDULING WITH PRE-OPTIMIZED REPERTOIRE ON THE HARDEST MMLIB+ SET
This paper presents an experimental investigation of the Sounds of Silence (SoS) harmony search metaheuristic for the multi-mode resource-constrained project scheduling problem (MRCPSP) using a pre-optimized starting repertoire. The presented algorithm is based on the time oriented version of the SoS harmony search metaheuristic developed by Csébfalvi et al. [1] for the single-mode resource-con...
متن کاملProperties of Open-Loop Controllers
Two most common tasks in controller design is regulation and signal tracking. Regulating controllers try to keep system stably in a fixed state. Balancing an inverted pendulum or keeping the speed a car at constant level are most obvious examples of regulation problems. All kinds of servomechanisms, such as autopilots and robotic arms, are the examples of signal tracking problems. An open-loop ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- CoRR
دوره abs/1802.08215 شماره
صفحات -
تاریخ انتشار 2018