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Authors: Wojciech Stecz 1 and Marcin Chodnicki 2

Affiliations: 1 Faculty of Cybernetics, Military University of Technology, Warsaw, Poland ; 2 Air Force Institute of Technology, Warsaw, Poland

Keyword(s): UAV, Autonomy, SysML, State Machine, Hardware-in-the-Loop.

Abstract: The article presents the principles of designing a reliable architecture supporting Unmanned Aerial Vehicle (UAV) control, taking into account the need to handle hazardous situations occurring during the flight. Detailed attention was paid to the description of the UAV architecture components that affect the ability to perform autonomous missions, understood as a flight without contact with the Ground Control Station (GCS). The method of designing UAV flight algorithms in the conditions of occurrence of gusts of wind was presented. The principles of modeling the behavior of UAVs in situations of a potential air collision with another platform or a collision with a terrain obstacle are described. Principles of modeling the hierarchy of handling hazardous situations are presented. The developed models were tested on a computer architecture based on ARM processors using the Hardware-in-the-Loop (HIL) technique. The presented solution uses a system of UAV control computers in the form of a Flight Control Computer (FCC) based on a real-time operating system (RTOS), and a Mission Computer (MC) based on a Linux system integrated with a Robot Operating System (ROS). A method of integrating tasks related to the management of mission implementation with the algorithms ensuring flight safety of the air platform is presented. The research was carried out on the basis of the UAV mathematical model, stabilization and navigation algorithms and the Dryden turbulence model. (More)

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Paper citation in several formats:
Stecz, W. and Chodnicki, M. (2022). Increasing the Autonomy of the Unmanned Aerial Platform. In Proceedings of the 17th International Conference on Software Technologies - ICSOFT; ISBN 978-989-758-588-3; ISSN 2184-2833, SciTePress, pages 365-373. DOI: 10.5220/0011140100003266

@conference{icsoft22,
author={Wojciech Stecz. and Marcin Chodnicki.},
title={Increasing the Autonomy of the Unmanned Aerial Platform},
booktitle={Proceedings of the 17th International Conference on Software Technologies - ICSOFT},
year={2022},
pages={365-373},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011140100003266},
isbn={978-989-758-588-3},
issn={2184-2833},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Software Technologies - ICSOFT
TI - Increasing the Autonomy of the Unmanned Aerial Platform
SN - 978-989-758-588-3
IS - 2184-2833
AU - Stecz, W.
AU - Chodnicki, M.
PY - 2022
SP - 365
EP - 373
DO - 10.5220/0011140100003266
PB - SciTePress

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