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

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arxiv 1802.08215 v2 pith:K6KDNOXN submitted 2018-02-22 cs.RO cs.SYeess.SY

Samuel Tabor , Iain Guilliard , Andrey Kolobov This is my paper · ORCID
classification cs.ROcs.SYeess.SY
keywords ardusoarautopilotcontrollersoaringuavsalgorithmicaloftarduplane
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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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