Testing of cooperative tasks for Unmanned Aerial and ground platforms

Author

Gaujens, A. ; Benini, A. ; Mancini, Antonella ; Longhi, Sauro

Author_Institution

Inst. of Math. & Comput. Sci., Univ. of Latvia, Riga, Latvia

fYear

2014

fDate

10-12 Sept. 2014

Firstpage

1

Lastpage

6

Abstract

In the last years the Model Based Design for Unmanned Systems aided the safe and rational release of applications running on unmanned systems. In particular in this paper we focus on a hybrid methodology that merges Software in the Loop (SIL) and Model in the Loop (MIL) strategies for cooperative tasks performed by aerial and ground autonomous vehicles. The proposed work flow covers the design and testing of Ground Control Station (GCS) modelled by a finite state machine, the design and testing of navigation code running on UAV and UGV and the testing of cooperative missions. The work-flow is based on a realistic 3D physical simulator interfaced with Matlab-Simulink-Stafeflow. The proposed approach has been successfully tested and evaluated allowing to release runnable and safe code on real targets.

Keywords

autonomous aerial vehicles; control engineering computing; finite state machines; mobile robots; path planning; 3D physical simulator; Matlab-Simulink-stafeflow; UAV; UGV; cooperative mission testing; cooperative task; finite state machine; ground autonomous vehicle; ground control station; model based design; model in the loop; navigation code; software in the loop; unmanned aerial vehicle; Libraries; MATLAB; Mathematical model; Solid modeling; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on

Conference_Location

Senigallia

Print_ISBN

978-1-4799-2772-2

Type

conf

DOI

10.1109/MESA.2014.6935621

Filename

6935621