Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT

Muhammad Faris Fathoni; Yong Il Jo; Kyong Hoon Kim

doi:10.1007/978-981-15-1078-6_23

Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT

Muhammad Faris Fathoni, Yong Il Jo, Kyong Hoon Kim

Gyeongsang National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Simulation is a system to imitate the operation of various kinds of real–world facilities or processes for behavior study, training or entertainment purposes. As example, a quadrotor UAV simulator can be used as tool for research on real-time system performance, quadrotor system behavior study and control design (inner loop, outer loop). On the other hand, the benefit of Litmus-RT as a UNIX-like kernel should be used for real-time system. This paper discusses the prototype development of the real-time quadrotor simulation in Litmus-RT. The non-linear quadrotor models are developed, consisting of the stability controllability augmentation system (SCAS) and equation of motion (EOM). Program modules (software) of simulation are implemented in Litmus-RT with earliest deadline first (EDF) scheduling, and run on Ubuntu 16.04 operating system with iteration rate 50 Hz.

Original language	English
Title of host publication	Methods and Applications for Modeling and Simulation of Complex Systems - 19th Asia Simulation Conference, AsiaSim 2019, Proceedings
Editors	Gary Tan, Yong Meng Teo, Axel Lehmann, Wentong Cai
Publisher	Springer
Pages	260-266
Number of pages	7
ISBN (Print)	9789811510779
DOIs	https://doi.org/10.1007/978-981-15-1078-6_23
State	Published - 2019
Event	19th Asia Simulation Conference, AsiaSim 2019 - Singapore, Singapore Duration: 30 Oct 2019 → 1 Nov 2019

Publication series

Name	Communications in Computer and Information Science
Volume	1094
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	19th Asia Simulation Conference, AsiaSim 2019
Country/Territory	Singapore
City	Singapore
Period	30/10/19 → 1/11/19

Keywords

Litmus-RT
Non-linear simulation
Quadrotor UAV model
Real-time simulation

Access to Document

10.1007/978-981-15-1078-6_23

Cite this

Fathoni, M. F., Jo, Y. I., & Kim, K. H. (2019). Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT. In G. Tan, Y. M. Teo, A. Lehmann, & W. Cai (Eds.), Methods and Applications for Modeling and Simulation of Complex Systems - 19th Asia Simulation Conference, AsiaSim 2019, Proceedings (pp. 260-266). (Communications in Computer and Information Science; Vol. 1094). Springer. https://doi.org/10.1007/978-981-15-1078-6_23

Fathoni, Muhammad Faris ; Jo, Yong Il ; Kim, Kyong Hoon. / Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT. Methods and Applications for Modeling and Simulation of Complex Systems - 19th Asia Simulation Conference, AsiaSim 2019, Proceedings. editor / Gary Tan ; Yong Meng Teo ; Axel Lehmann ; Wentong Cai. Springer, 2019. pp. 260-266 (Communications in Computer and Information Science).

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title = "Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT",

abstract = "Simulation is a system to imitate the operation of various kinds of real–world facilities or processes for behavior study, training or entertainment purposes. As example, a quadrotor UAV simulator can be used as tool for research on real-time system performance, quadrotor system behavior study and control design (inner loop, outer loop). On the other hand, the benefit of Litmus-RT as a UNIX-like kernel should be used for real-time system. This paper discusses the prototype development of the real-time quadrotor simulation in Litmus-RT. The non-linear quadrotor models are developed, consisting of the stability controllability augmentation system (SCAS) and equation of motion (EOM). Program modules (software) of simulation are implemented in Litmus-RT with earliest deadline first (EDF) scheduling, and run on Ubuntu 16.04 operating system with iteration rate 50 Hz.",

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author = "Fathoni, {Muhammad Faris} and Jo, {Yong Il} and Kim, {Kyong Hoon}",

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doi = "10.1007/978-981-15-1078-6_23",

language = "English",

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Fathoni, MF, Jo, YI & Kim, KH 2019, Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT. in G Tan, YM Teo, A Lehmann & W Cai (eds), Methods and Applications for Modeling and Simulation of Complex Systems - 19th Asia Simulation Conference, AsiaSim 2019, Proceedings. Communications in Computer and Information Science, vol. 1094, Springer, pp. 260-266, 19th Asia Simulation Conference, AsiaSim 2019, Singapore, Singapore, 30/10/19. https://doi.org/10.1007/978-981-15-1078-6_23

Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT. / Fathoni, Muhammad Faris; Jo, Yong Il; Kim, Kyong Hoon.
Methods and Applications for Modeling and Simulation of Complex Systems - 19th Asia Simulation Conference, AsiaSim 2019, Proceedings. ed. / Gary Tan; Yong Meng Teo; Axel Lehmann; Wentong Cai. Springer, 2019. p. 260-266 (Communications in Computer and Information Science; Vol. 1094).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT

AU - Fathoni, Muhammad Faris

AU - Jo, Yong Il

AU - Kim, Kyong Hoon

PY - 2019

Y1 - 2019

N2 - Simulation is a system to imitate the operation of various kinds of real–world facilities or processes for behavior study, training or entertainment purposes. As example, a quadrotor UAV simulator can be used as tool for research on real-time system performance, quadrotor system behavior study and control design (inner loop, outer loop). On the other hand, the benefit of Litmus-RT as a UNIX-like kernel should be used for real-time system. This paper discusses the prototype development of the real-time quadrotor simulation in Litmus-RT. The non-linear quadrotor models are developed, consisting of the stability controllability augmentation system (SCAS) and equation of motion (EOM). Program modules (software) of simulation are implemented in Litmus-RT with earliest deadline first (EDF) scheduling, and run on Ubuntu 16.04 operating system with iteration rate 50 Hz.

AB - Simulation is a system to imitate the operation of various kinds of real–world facilities or processes for behavior study, training or entertainment purposes. As example, a quadrotor UAV simulator can be used as tool for research on real-time system performance, quadrotor system behavior study and control design (inner loop, outer loop). On the other hand, the benefit of Litmus-RT as a UNIX-like kernel should be used for real-time system. This paper discusses the prototype development of the real-time quadrotor simulation in Litmus-RT. The non-linear quadrotor models are developed, consisting of the stability controllability augmentation system (SCAS) and equation of motion (EOM). Program modules (software) of simulation are implemented in Litmus-RT with earliest deadline first (EDF) scheduling, and run on Ubuntu 16.04 operating system with iteration rate 50 Hz.

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A2 - Teo, Yong Meng

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A2 - Cai, Wentong

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Y2 - 30 October 2019 through 1 November 2019

ER -

Fathoni MF, Jo YI, Kim KH. Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT. In Tan G, Teo YM, Lehmann A, Cai W, editors, Methods and Applications for Modeling and Simulation of Complex Systems - 19th Asia Simulation Conference, AsiaSim 2019, Proceedings. Springer. 2019. p. 260-266. (Communications in Computer and Information Science). doi: 10.1007/978-981-15-1078-6_23

Prototype Development of the Real-Time Quadrotor UAV Simulation in Litmus-RT

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