A distributed embedded software architecture for multiple Unmanned Aerial Vehicles
Name
80777405-MIT.pdf
Description
Full printable version
Size
9.5 MB
Format
Adobe PDF
Checksum (MD5)
89fbbe5867b9d1be2483ffcef8f58345
Author(s)
Matczynski, Michael J
Advisor(s)
Jonathan P. How.
Date Issued
2006
Publisher
Massachusetts Institute of Technology
Abstract
In order to deploy intelligent, next-generation applications on Unmanned Aerial Vehicles (UAVs), we must first develop a software architecture that supports onboard computation and flexible communication. This thesis presents an Onboard Planning Module developed from an embedded PC/104 Linux-based computer that communicates directly with the UAV's autopilot to retrieve telemetry data and update the UAV's flight path. A serial communication program exchanges data with the UAV's autopilot while a multithreaded module enables concurrent onboard Mixed-Integer Linear Programming (MILP) optimization. The Mission Manager Graphical User Interface (GUI) monitors the status of each Onboard Planning Module on a team of UAVs using the onboard planning protocol. Two task assignment scenarios are simulated to demonstrate the system operating with both a single and multiple UAV task selection algorithm.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.
Includes bibliographical references (leaves 52-54).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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