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Real-time Implementation and Validation of a New Hierarchical Path Planning Scheme of UAVs via Hardware-in-the-Loop Simulation

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Abstract

We present a real-time hardware-in-the-loop simulation environment for the validation of a new hierarchical path planning and control algorithm for a small fixed-wing unmanned aerial vehicle (UAV). The complete control algorithm is validated through on-board, real-time implementation on a small autopilot having limited computational resources. We present two distinct real-time software frameworks for implementing the overall control architecture, including path planning, path smoothing, and path following. We emphasize, in particular, the use of a real-time kernel, which is shown to be an effective and robust way to accomplish real-time operation of small UAVs under non-trivial scenarios. By seamless integration of the whole control hierarchy using the real-time kernel, we demonstrate the soundness of the approach. The UAV equipped with a small autopilot, despite its limited computational resources, manages to accomplish sophisticated unsupervised navigation to the target, while autonomously avoiding obstacles.

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Authors and Affiliations

  1. Georgia Institute of Technology, Atlanta, GA, 30332-0150, USA

    Dongwon Jung, Jayant Ratti & Panagiotis Tsiotras

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  1. Dongwon Jung
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  2. Jayant Ratti
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  3. Panagiotis Tsiotras
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Correspondence to Dongwon Jung.

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Jung, D., Ratti, J. & Tsiotras, P. Real-time Implementation and Validation of a New Hierarchical Path Planning Scheme of UAVs via Hardware-in-the-Loop Simulation. J Intell Robot Syst 54, 163–181 (2009). https://doi.org/10.1007/s10846-008-9255-0

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  • DOI: https://doi.org/10.1007/s10846-008-9255-0

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