Hardware-in-the-loop simulation environment for testing of tilt-rotor UAV's control strategies
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Universidade Federal de Minas Gerais
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This paper presents a hardware-in-the-loop simulation environment for testing of control strategies for Unmanned Aerial Vehicles in Tilt-rotor configuration. This proposal consists of a distributed system composed by a general purpose computer, that runs the Gazebo simulator, and a stm32f4 discovery development board, that executes the control strategy. For instrumentation and reference data transfer it was developed a serial communication protocol that includes an error-detecting method for serial transmissions, which uses a checksum for accidental change detection in data transfer chains. Besides, it was created a dynamic library in order to provide an external channel with Gazebo Simulator to allow interaction between simulation and embedded system. Also it was designed a trajectory creator program to select the reference points to be reached by the control strategy, being either automatically or manually via joystick. Finally, the system is validated through simulation of a Tilt-rotor UAV being controlled by a DLQR strategy.
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Aeronave não tripulada, Controle automático
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Tilt-rotor UAV, Hardware-in-the-loop, Embedded systems, Robotic simulator, Control systems
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https://www.sba.org.br/open_journal_systems/index.php/cba/article/view/108