Emergent Mind
ArduSoar: an Open-Source Thermalling Controller for Resource-Constrained Autopilots
(1802.08215)
Published Feb 22, 2018
in
cs.RO
and
cs.SY
Abstract
Autonomous soaring capability has the potential to significantly increase time aloft for fixed-wing UAVs. In this paper, we introduce ArduSoar, the first soaring controller integrated into a major autopilot software suite for small UAVs. We describe ArduSoar from the algorithmic standpoint, outline its integration with the ArduPlane autopilot, discuss parameter tuning for it, and conduct a series of flight tests on real sUAVs that show ArduSoar's robustness even in highly non-ideal atmospheric conditions.
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