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ArduSoar: an Open-Source Thermalling Controller for Resource-Constrained Autopilots (1802.08215v2)
Published 22 Feb 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.