DocumentCode :
3514720
Title :
Configurable real-time simulation suite for coaxial rotor UAVs
Author :
Huerzeler, C. ; Alexis, Kostas ; Siegwart, R.
Author_Institution :
ASL, Swiss Fed. Inst. of Technol., Zuerich, Switzerland
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
309
Lastpage :
316
Abstract :
This paper describes an accurate and extendable rotorcraft dynamics simulator developed to support the design and control of autonomous coaxial rotor vehicles. This simulator is capable of accurately predicting the dynamic flight response of coaxial rotor vehicles purely based on geometric, inertial and aerodynamic specifications. The simulator is fully configurable and implements the typical mechanical layouts found in model-size coaxial helicopters. The corresponding software framework as well as the underlying theory is presented in detail. System parameters for a coaxial rotor prototype have been estimated and the resulting simulation results compared with real flight-data demonstrating the capabilities of the presented simulation software.
Keywords :
aerospace computing; aerospace simulation; autonomous aerial vehicles; control engineering computing; robot dynamics; aerodynamic specifications; autonomous coaxial rotor vehicles control; autonomous coaxial rotor vehicles design; coaxial rotor UAV; coaxial rotor prototype; coaxial rotor vehicles dynamic flight response; configurable real-time simulation suite; geometric specification; inertial specification; model-size coaxial helicopters; rotorcraft dynamics simulator; simulation software; software framework; Clocks; Robot sensing systems; Software;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6630593
Filename :
6630593
Link To Document :
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