Development of a Simulation Environment for Autonomous Flight Control Algorithms

A simulation environment is developed at West Virginia University to support the design and testing of algorithms for unmanned aerial vehicle (UAV) autonomous flight with advanced capabilities for abnormal conditions accommodation. A modular structure within Matlab/Simulink interfaced with FlightGear for visualization is adopted for maximum portability, flexibility, and extension capability through addition of new aircraft models and autonomous flight algorithms. Several representative UAV models are currently implemented, including subsystem failure/damage models and environmental upset conditions. Path and trajectory planning algorithms in major classes are operational as well as both conventional and adaptive trajectory tracking algorithms with significant fault-tolerant potential. The user can setup the mission configuration by defining threat zones, obstacles, and points of interest through an interactive graphical interface. The versatility and utility of the simulation environment is illustrated through example simulation results at nominal and under actuator failure conditions.