Model-Driven In-the-Loop Validation: Simulation-Based Testing of UAV Software Using Virtual Environments

Florian Mutter, Stefanie Gareis, Bernhard Schätz, Andreas Bayha, Franziska Grüneis, Michael Kanis and Dagmar Koss

Proceedings of the 18th IEEE International Conference and Workshops on Engineering of Computer-Based Systems,

2011 · doi:10.1109/ECBS.2011.30

abstract

With the availability of the off-the-shelf quadrocopter platforms, the implementation of autonomous unmanned aerial vehicle (UAV) has substantially been simplified. Such UAVs can explore unaccessible terrain and provide information about the local situation in a specified target area. For the early development of an autonomous aerial vehicle, virtual integration of the system makes it possible to test a software implementation without endangering the hardware or the environment. Key elements of such a virtual test environment for UAV software are the modeling and simulation of the environment and the hardware platform, as well as the integration of the software in the simulation.