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Modular scalable system for operation and testing of UAVs

Laiacker, Maximilian and Klöckner, Andreas and Kondak, Konstantin and Schwarzbach, Marc and Looye, Gertjan and Sommer, Dominik and Kossyk, Ingo (2013) Modular scalable system for operation and testing of UAVs. In: American Control Conference (ACC), pp. 1460-1465. American Control Conference, June 17-19, 2013, Washington, DC, USA. ISBN 978-1-4799-0177-7 ISSN 0743-1619

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6580042

Abstract

In this paper we present a system for operation and testing of different UAVs. The system allows easy development and modification of control and mission software. The system is composed of hard- and software modules with a standardized interface. We have been using the system with rotary and fixed wing UAVs with a take-off mass between 10 and 100 kg. For larger platforms the system can be used in a redundant setup. The software modules are integrated in a special real-time framework, which supports execution, scheduling, communication and system monitoring. A modular simulation and control infrastructure allows for flexible, integrated design and analysis of control laws. The code for the computational part of the modules can be generated from Matlab/Simulink-models or from Modelica-models. The system supports debugging, soft- and hardware in the loop simulations, operator training as well as real flight experiments. The main design concepts are explained at hand of our solar powered high altitude platform ELHASPA and the 10 years experience in development and operation will be summarized.

Item URL in elib:https://elib.dlr.de/86682/
Document Type:Conference or Workshop Item (Speech)
Title:Modular scalable system for operation and testing of UAVs
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Laiacker, Maximilianmaximilian.laiacker (at) dlr.deUNSPECIFIED
Klöckner, Andreasandreas.kloeckner (at) dlr.deUNSPECIFIED
Kondak, Konstantinkonstantin.kondak (at) dlr.deUNSPECIFIED
Schwarzbach, Marcmarc.schwarzbach (at) dlr.deUNSPECIFIED
Looye, Gertjangertjan.looye (at) dlr.deUNSPECIFIED
Sommer, Dominikdominik.sommer (at) dlr.deUNSPECIFIED
Kossyk, Ingoingo.kossyk (at) dlr.deUNSPECIFIED
Date:June 2013
Journal or Publication Title:American Control Conference (ACC)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1460-1465
ISSN:0743-1619
ISBN:978-1-4799-0177-7
Status:Published
Keywords:aerospace components;aerospace computing;autonomous aerial vehicles;computer debugging;control engineering computing;mechanical engineering computing;mobile robots;vehicle dynamics;ELHASPA;Matlab-Simulink-models;Modelica-models. The;communication monitoring;control law integrated analysis;control law integrated design;control software modification;debugging;execution monitoring;fixed wing UAV;hardware-in-the-loop simulations;mass 10 kg;mass 100 kg;mission software modification;modular scalable system;rotary wing UAV;scheduling monitoring;software-in-the-loop-simulations;solar powered high altitude platform;system monitoring;take-off mass;Actuators;Adaptation models;Atmospheric modeling;Hardware;Mathematical model;Software;Solid modeling
Event Title:American Control Conference
Event Location:Washington, DC, USA
Event Type:international Conference
Event Dates:June 17-19, 2013
Organizer:American Automatic Control Council (AACC)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Aircraft System Dynamics
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Klöckner, Andreas
Deposited On:16 Dec 2013 10:10
Last Modified:31 Jul 2019 19:44

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