This paper presents the architecture of an onboard controller developed for the HERO autonomous helicopter, which is a low-cost unmanned aerial vehicle research platform. An embedded digital-signal-processor-based low-level controller is devoted to flight control, while a PC-based high-level controller is used for onboard perception tasks and interaction with other agents in a distributed system. The functional design, software architecture, and implementation of the low-level controller are analyzed in detail, focusing mainly on its runtime environment (JULIET) and its capability for flexible reconfiguration. The connectivity functions of the low-level controller with external possibly distributed agents are also addressed. Finally, the results of real autonomous flight experiments are presented, including the tracking of a smooth 3-D path described by over two hundred waypoints.


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    Title :

    Reconfigurable Control Architecture for Distributed Systems in the HERO Autonomous Helicopter


    Contributors:
    Ferruz, J. (author) / Vega, V.M. (author) / Ollero, A. (author) / Blanco, V. (author)

    Published in:

    Publication date :

    2011


    Size :

    8 Seiten, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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