A Multilevel Architecture for Autonomous UAVs

  1. Bigazzi, Luca
  2. Basso, Michele
  3. Boni, Enrico
  4. Innocenti, Giacomo
  5. Pieraccini, Massimiliano
  6. González Aguilera, Diego 1
  1. 1 Universidad de Salamanca
    info

    Universidad de Salamanca

    Salamanca, España

    ROR https://ror.org/02f40zc51

Revista:
Drones

ISSN: 2504-446X

Ano de publicación: 2021

Volume: 5

Número: 3

Páxinas: 55

Tipo: Artigo

DOI: 10.3390/DRONES5030055 GOOGLE SCHOLAR lock_openAcceso aberto editor

Outras publicacións en: Drones

Resumo

In this paper, a multilevel architecture able to interface an on-board computer with a generic UAV flight controller and its radio receiver is proposed. The computer board exploits the same standard communication protocol of UAV flight controllers and can easily access additional data, such as: (i) inertial sensor measurements coming from a multi-sensor board; (ii) global navigation satellite system (GNSS) coordinates; (iii) streaming video from one or more cameras; and (iv) operator commands from the remote control. In specific operating scenarios, the proposed platform is able to act as a “cyber pilot” which replaces the role of a human UAV operator, thus simplifying the development of complex tasks such as those based on computer vision and artificial intelligence (AI) algorithms which are typically employed in autonomous flight operations.

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