Autonomous UAV Development and Evaluation with MATLAB …

Autonomous UAV Development and Evaluation

with MATLAB® and Simulink®

Julia Antoniou Andrew Grabowski

MATLAB® Simulink®

▪ Integrated workflows enabled

by MATLAB and Simulink

▪ Tools to design UAV systems

and autonomous applications

▪ Select appropriate methods for

your UAV development tasks

▪ Evaluating systems through

closed-loop simulations with

sensor models

MATLAB® Simulink®

▪ Integrated workflows enabled

by MATLAB and Simulink

▪ Tools to design UAV systems

and autonomous applications

▪ Select appropriate methods for

your UAV development tasks

▪ Evaluating systems through

closed-loop simulations with

sensor models

Increase in autonomous UAV usage

Mapping &

Surveying

Inspections &

Monitoring

Delivery &

Transport

Security &

Defense

Challenges in developing autonomous UAV systems & applications

Complexity of advanced

autonomous algorithms

Need of end-to-end workflows

Ensuring system quality and

reducing flight risk

Which of these challenges have you encountered?

Enter in chat if you have others. Also enter in chat

if you have tips on how you have resolved these

challenges.

Solutions for developing autonomous UAV systems & applications

Robust tools and features for

designing and testing UAV systems

and algorithms

Integrated development environment

that covers development from ideas

to production

Extensive verification and validation

tools to evaluate design quality

through virtual testing

Integrated workflows for developing UAV applications

MATLAB® Simulink®

System Architecture

MATLAB®

Model UAV

Simulink®

System Architecture

MATLAB®

Model UAV

Simulink®

System Architecture

Design Algorithms

PerceptionPlanning &

DecisionControl

MATLAB®

Model UAV

Simulink®

DO-178

System Architecture

Design Algorithms

DecisionControl

MATLAB®

Model UAV

Simulink®

DO-178

System Architecture

Unreal Engine

Simulate with Sensor Models

GazeboCuboid

Design Algorithms

DecisionControl

Deploy to Hardware

MATLAB®

Model UAV

Implement

Simulink®

DO-178

System Architecture

Unreal Engine

GazeboCuboid

PX4® NVIDIA® Jetson®

Design Algorithms

DecisionControl

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

DO-178

System Architecture

Ground Control StationUAV

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

DO-178

System Architecture

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

▪ System Composer™ for

designing and analyzing

system and software

architecture

▪ Simulink integration and

requirement allocation for

traceability

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

UAV Plant Modeling: Selecting the appropriate fidelity

High-Fidelity

Building UAV

Approximate

Programming UAV

Simscape Multibody, Aerospace Blockset, UAV Toolbox

High-Fidelity

Building UAV

Approximate

Programming UAV

High-Fidelity

Building UAV

Approximate

Programming UAV

Link Link

High-Fidelity

Building UAV

Approximate

Programming UAV

Link LinkLink

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

Autonomous UAV Algorithm Development

Map Data

Endpoint

Startpoint

Planned Path

Design Algorithms

DecisionControl

Autonomous UAV algorithm design with robust capabilities

DecisionControl

Sensor Fusion and Tracking Toolbox, Lidar Toolbox, Navigation Toolbox, Computer Vision Toolbox, Deep Learning Toolbox

Link Link Link

Link LinkLink

DecisionControl

Define UAV missions with waypoint

and trajectory-following algorithms

UAV motion planning with

advanced path planners

UAV Toolbox, Navigation Toolbox

Link Link

DecisionControl

Trajectory tracking controller with nonlinear

model predictive control (MPC)

Train policies for trajectory generation

using reinforcement learning algorithms

Model Predictive Control Toolbox, Reinforcement Learning Toolbox

Link Link

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

Tracking and automating verification and validation activities

Requirements Traceability Test Management & Automation Evaluate Completeness

Simulink Requirements, Simulink Test, Simulink Coverage, Simulink Check

Link Link Link

Example: Automating UAV testing with requirements linking

Requirements linking for traceability

Automating test execution and evaluation

UAV Toolbox, Simulink Requirements, Simulink TestLink

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

Integrated simulations with sensor models

Cuboid

Performance

Unreal Engine®

Photorealistic

What sensors are important to you? What sensor

characteristics are needed in simulation to proceed

to flight testing with confidence?

Rapidly author scenarios and

generate sensor data

Realistic graphics to test autonomous

algorithms in closed-loop simulations

UAV ToolboxLink Link

Cuboid

Performance

Unreal Engine®

Photorealistic

Cuboid

Performance

Unreal Engine®

Photorealistic

Example: Build 3D map using simulation Lidar point cloud data

Extract and match features

Register and align point cloud

Detect loop-closures

Create pose graph

Optimize poses

Execute simulation

Obtain sensor data

UAV Toolbox, Lidar Toolbox

Create 3D scenes for UAV simulations

Design 3D scenes for simulating and testing autonomous algorithms

RoadRunner, RoadRunner Asset Library, UAV Toolbox Interface for Unreal Engine Projects

Link Link

Automatic code generation for hardware implementation

Connect

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

Deploy to Hardware

UAV Toolbox, Simulink Coder, Embedded Coder, GPU Coder

Deploy flight controls to

autopilot hardware

Deploy autonomous

algorithms to onboard

computersFPGA

CPU GPU

Connecting to UAV hardware through MAVLink protocol

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

Connect

Message Blocks

Autopilot

MAVLink

Host Machine

MAVLink

Compute Board

MAVLink

Remote UAV

MAVLink Connectivity

UAV Toolbox

Post-flight data analysis

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System ArchitectureFlight Log Analysis Payload Data Analysis

Analyze Data

UAV Toolbox, Computer Vision Toolbox, Deep Learning Toolbox

Link Link

Integrated Workflows for Developing UAV Applications

Connect

Deploy to Hardware

MATLAB®

Model UAV

Implement

Connect

Simulink®

Analyze Data

Unreal Engine

GazeboCuboid

Design Algorithms

DecisionControl

DO-178

System Architecture

Key Takeaways

Robust tools/features for

autonomous UAV design and

simulations with sensor models

Integrated development workflows

from prototyping to productization

with MATLAB and Simulink

Quality through verification & validation

tools for traceability, test completeness,

and test management/automation

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Autonomous UAV Development and Evaluation with MATLAB …

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Transcript of Autonomous UAV Development and Evaluation with MATLAB …

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