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arXiv:1802.08215cs.RO

ArduSoar: an Open-Source Thermalling Controller for Resource-Constrained Autopilots

Samuel Tabor, Iain Guilliard, Andrey Kolobov

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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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Journal reference
DOI
Subjects
cs.RORobotics eess.SYSystems and Control (EESS)

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  1. Dynamic soaring 1 comment

    • Soaring in general seems like a ripe opportunity for automation. If someone makes software that can seek out and make use of lift (using various information sources), it could pave the way for very low-energy drones. EDIT: Interesting.... seems there is something already that…

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