Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT
Simulation is a system to imitate the operation of various kinds of real–world facilities or processes for behavior study, training or entertainment purposes. As example, a quadrotor UAV simulator can be used as tool for research on real-time system performance, quadrotor system behavior study and control design (inner loop, outer loop). On the other hand, the benefit of Litmus-RT as a UNIX-like kernel should be used for real-time system. This paper discusses the prototype development of the real-time quadrotor simulation in Litmus-RT. The non-linear quadrotor models are developed, consisting of the stability controllability augmentation system (SCAS) and equation of motion (EOM). Program modules (software) of simulation are implemented in Litmus-RT with earliest deadline first (EDF) scheduling, and run on Ubuntu 16.04 operating system with iteration rate 50 Hz.
KeywordsReal-time simulation Non-linear simulation Quadrotor UAV model Litmus-RT
This work was supported by the Human Resources Development of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Ministry of Trade, Industry and Energy (No. 20194030202430).
- 1.Akcakoca, M., Atici, B.M., Gever, B.: A simulation-based development and verification architecture for micro uav teams and swarms. In: AIAA Scitech 2019 Forum. AIAA, San Diego (2019)Google Scholar
- 2.Brandenburg, B.: LITMUSRT: a testbed for empirically comparing real-time multiprocessor schedulers. In: Proceedings of the 27th IEEE Real-Time Systems Symposium, pp. 111–123 (2006)Google Scholar
- 3.Bouabdallah, S.: Design and Control of Quad Rotor with Application to Autonomous Flying, Ph.D. Thesis, Ecole Polytechnique Federal de Lausanne (2007)Google Scholar
- 7.Stevens, B.L., Lewis, F.L.: Aircraft Control and Simulation, 3rd edn. Wiley, New York (2016)Google Scholar