UavEE: A modular, power-aware emulation environment for rapid prototyping and testing of UAVs

Mirco Theile, Or D. Dantsker, Richard Nai, Marco Caccamo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

19 Scopus citations

Abstract

State of the art design and testing of avionics for unmanned aircraft is an iterative process that involves many test flights, interleaved with multiple revisions of the flight management software and hardware. To significantly reduce flight test time and software development costs, we have developed a real-time UAV Emulation Environment (uavEE) using ROS that interfaces with high fidelity simulators to simulate the flight behavior of the aircraft. Our uavEE emulates the avionics hardware by interfacing directly with the embedded hardware used in real flight. The modularity of uavEE allows the integration of countless test scenarios and applications. Furthermore, we present an accurate data driven approach for modeling of propulsion power of fixed-wing UAVs, which is integrated into uavEE. Finally, uavEE and the proposed UAV Power Model have been experimentally validated using a fixed-wing UAV testbed.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE 24th International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages217-224
Number of pages8
ISBN (Electronic)9781538677599
DOIs
StatePublished - 9 Jan 2019
Externally publishedYes
Event24th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2018 - Hakodate, Japan
Duration: 29 Aug 201831 Aug 2018

Publication series

NameProceedings - 2018 IEEE 24th International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2018

Conference

Conference24th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, RTCSA 2018
Country/TerritoryJapan
CityHakodate
Period29/08/1831/08/18

Keywords

  • Autonomous
  • Autopilot
  • Emulation
  • Rapid prototyping
  • Testing
  • UAV

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