Software- and hardware-in-the-loop verification of flight dynamics model and flight control simulation of a fixed-wing unmanned aerial vehicle

Coopmans, Calvin; Podhradský, Michal; Hoffer, Nathan V.

doi:10.1109/red-uas.2015.7440998

Cited by 16 publications

(8 citation statements)

References 8 publications

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“…Software In The Loop (SITL) is a hardwarefree simulation environment that facilitates simulating realtime UAV operations. It includes a c++ code to directly implement autopilot operation on the user's computer for testing [227]. The list of tools for simulating UAV networking is large and still growing.…”

Section: A Simulation Toolsmentioning

confidence: 99%

A Review of AI-enabled Routing Protocols for UAV Networks: Trends, Challenges, and Future Outlook

Rovira-Sugranes¹,

Razi²,

Afghah³

et al. 2021

Preprint

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Unmanned Aerial Vehicles (UAVs), as a recently emerging technology, enabled a new breed of unprecedented applications in different domains. This technology's ongoing trend is departing from large remotely-controlled drones to networks of small autonomous drones to collectively complete intricate tasks time and cost-effectively. An important challenge is developing efficient sensing, communication, and control algorithms that can accommodate the requirements of highly dynamic UAV networks with heterogeneous mobility levels. Recently, the use of Artificial Intelligence (AI) in learning-based networking has gained momentum to harness the learning power of cognizant nodes to make more intelligent networking decisions. An important example of this trend is developing learning-powered routing protocols, where machine learning methods are used to model and predict topology evolution, channel status, traffic mobility, and environmental factors for enhanced routing.This paper reviews AI-enabled routing protocols designed primarily for aerial networks, with an emphasis on accommodating highly-dynamic network topology. To this end, we review the basics of UAV technology, different approaches to swarm formation, and commonly-used mobility models, along with their impact on networking paradigms. We proceed with reviewing conventional and AI-enabled routing protocols, including topology-predictive and self-adaptive learning-based routing algorithms. We also discuss tools, simulation environments, remote experimentation platforms, and public datasets that can be used for developing and testing AI-enabled networking protocols for UAV networks. We conclude by presenting future trends, and the remaining challenges in AI-based UAV Networking, for different aspects of routing, connectivity, topology control, security and privacy, energy efficiency, and spectrum sharing.

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Section: A Simulation Toolsmentioning

confidence: 99%

A Review of AI-enabled Routing Protocols for UAV Networks: Trends, Challenges, and Future Outlook

Rovira-Sugranes¹,

Razi²,

Afghah³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…GZB sistemlerinde işlemci üniteleri olarak genellikle mikroişlemciler, Alan Programlanabilir Kapı Dizileri (FPGA) ve Sayısal İşaret İşleyiciler (DSP) kullanılmaktadır. GZB sistemleri, havacılık [1][2][3], otomotiv [4][5][6], yenilenebilir enerji kaynakları [7][8][9], iletim hattı [10] ve robotik [11] ve güç elektroniği [12][13][14][15][16][17] gibi çeşitli alanlarda kullanılmaktadır. FPGA kullanarak örnekleme zaman aralığı küçülmesine rağmen güç elektroniği uygulamalarında kullanılan modelleme dilindeki kütüphane eksikliği sistem geliştirme süresini arttırmaktadır [12][13][14] ).…”

Section: şEkil 1 Gerçek Zamanlı Benzetim Ortamının Genel Yapısıunclassified

Güç Dönüştürücülerinin Kapalı Döngü İçinde Benzetimi

Evran

2018

Düzce Üniversitesi Bilim Ve Teknoloji Dergisi

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Bu çalışmanın amacı, güç dönüştürücüleri için kapalı döngü içerisinde etkili bir benzetim ortamı oluşturmaktır. Kullanılan benzetim gerçek zamanlı olup, geleneksel benzetim yazılımlarından farklıdır. Gerçek zamanlı benzetimlerde yüksek hassasiyetli sonuçlar elde edebilmek için örnekleme zaman aralığının oldukça küçük olması gerekmektedir. Bu ise sistemin maliyetinin artmasına yol açmaktadır. Bu çalışmada, açık kaynaklı bir işletim sisteminde, güç dönüştürücülerinde durum uzay ortalama yaklaşımını kullanarak gelişmiş mikrodenetleyiciler için çok düşük maliyetli gerçek zamanlı bir donanım test ortamının ayrıntılı bir uygulaması sunulmuştur. Örnek olarak, AA (Alternatif akım)-DA (Doğru akım) güç faktörü düzeltme dönüştürücüsünün denetleyicisi tasarımı için gerçek zamanlı bir benzetiminin test yaklaşımı uygulanmıştır. Önerilen gerçek zamanlı benzetimin geçerliliği MATLAB/ Simulink benzetim sonuçları ile karşılaştırılarak doğrulanmıştır.

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“…Tests of coverage paths it can be conducted with drones in a real or simulated environment. The most viable option for this stage of the work is simulation, as verified by other research [69][70][71][72]. Simulation has been recognized as an important research tool; initially, simulation was an academic research tool, but with the advancement of computers, simulation has reached new levels.…”

Section: Introductionmentioning

confidence: 98%

Coverage Path Planning with Semantic Segmentation for UAV in PV Plants

et al. 2021

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Solar energy is one of the most strategic energy sources for the world’s economic development. This has caused the number of solar photovoltaic plants to increase around the world; consequently, they are installed in places where their access and manual inspection are arduous and risky tasks. Recently, the inspection of photovoltaic plants has been conducted with the use of unmanned aerial vehicles (UAV). Although the inspection with UAVs can be completed with a drone operator, where the UAV flight path is purely manual or utilizes a previously generated flight path through a ground control station (GCS). However, the path generated in the GCS has many restrictions that the operator must supply. Due to these restrictions, we present a novel way to develop a flight path automatically with coverage path planning (CPP) methods. Using a DL server to segment the region of interest (RoI) within each of the predefined PV plant images, three CPP methods were also considered and their performances were assessed with metrics. The UAV energy consumption performance in each of the CPP methods was assessed using two different UAVs and standard metrics. Six experiments were performed by varying the CPP width, and the consumption metrics were recorded in each experiment. According to the results, the most effective and efficient methods are the exact cellular decomposition boustrophedon and grid-based wavefront coverage, depending on the CPP width and the area of the PV plant. Finally, a relationship was established between the size of the photovoltaic plant area and the best UAV to perform the inspection with the appropriate CPP width. This could be an important result for low-cost inspection with UAVs, without high-resolution cameras on the UAV board, and in small plants.

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Software- and hardware-in-the-loop verification of flight dynamics model and flight control simulation of a fixed-wing unmanned aerial vehicle

Cited by 16 publications

References 8 publications

A Review of AI-enabled Routing Protocols for UAV Networks: Trends, Challenges, and Future Outlook

A Review of AI-enabled Routing Protocols for UAV Networks: Trends, Challenges, and Future Outlook

Güç Dönüştürücülerinin Kapalı Döngü İçinde Benzetimi

Coverage Path Planning with Semantic Segmentation for UAV in PV Plants

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