NDLI: A hardware-in-loop platform for rotary-wing unmanned aerial vehicles

Content Provider	IEEE Xplore Digital Library
Author	Beloti Pizetta, I.H. Brandao, A.S. Sarcinelli-Filho, M.
Copyright Year	2014
Description	Author affiliation: Dept. of Mech., Fed. Inst. of Espirito Santo, Aracruz, Brazil (Beloti Pizetta, I.H.) \|\| Grad. Program on Electr. Eng., Fed. Univ. of Espirito Santo, Vitoria, Brazil (Sarcinelli-Filho, M.) \|\| Dept. of Electr. Eng., Fed. Univ. of Vicosa, Vicosa, Brazil (Brandao, A.S.)
Abstract	This work describes the development of a platform to deal with simulated and real autonomous flights of rotary-wing aircrafts. Such platform (called AuRoRa Platform) was designed for use with commercial miniature helicopters and embeds the instrumentation necessary to autonomously guide the aircraft. Aiming at such objective, an electronic board specific to actuate over the servomotors of the helicopter and to get the data delivered by the sensors onboard the aircraft (all them “components of the shelf”), called AuRoRa Board was designed and manufactured. The AuRoRa Platform was implemented to exchange information with such a board, as a high level Hardware-in-the-Loop platform, capable of running simulations and real experiments, in the last case actuating over the servomotors of the aircraft through the electronic board aforementioned. Using the AuRoRa Platform one can choose amongst various aircrafts (we have already tested it with the quadrotor AR.Drone Parrot and the miniature helicopters ALIGN T-REX 450 and T-REX 600 - these two latter ones are the aircrafts dealt with in this work) and amongst different controllers as well. The AuRoRa Platform also presents a decentralized characteristic: to avoid overloading a single computer with the synthesis of the control signals and the online exhibition of the flight data, a feature enabled/disbled by the user, it is possible to run the online exhibition of the flight data in a second computer, using an UDP communication channel.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	1146
Ending Page	1157
File Size	1323197
Page Count	12
File Format	PDF
ISBN	9781479923762
DOI	10.1109/ICUAS.2014.6842369
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Atmospheric modeling Helicopters Aerospace electronics Servomotors Vehicle dynamics Aerospace control
Content Type	Text
Resource Type	Article

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