The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter

Yi Rui Tang; Yangmin Li

doi:10.1109/URAI.2011.6145967

The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

12 Citations (Scopus)

Abstract

This paper details the comprehensive software architecture and implementation of an onboard control system developed for a small-scale unmanned aerial vehicle (UAV) helicopter. A PC-104 computer stack is devoted to flight control as well as the interaction with other devices in the onboard system. The consideration to construct the software system is primarily focused on its real-time runtime environment and its competence of flexible reconfiguration. As a result, the system is developed under QNX Real-time Operating System (RTOS). The interaction function of the flight control computer with external devices is built in modules and processes running in a predefined order. The entire software system has been successfully tested in both actual field flights and a hardware-in-the-loop simulation (HILs) environment. The flight results have shown that the software system is competent enough to go on with automatic flight of the UAV helicopter.

Original language	English
Title of host publication	URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages	228-233
Number of pages	6
DOIs	https://doi.org/10.1109/URAI.2011.6145967
Publication status	Published - 1 Dec 2011
Externally published	Yes
Event	2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of Duration: 23 Nov 2011 → 26 Nov 2011

Conference

Conference	2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Country/Territory	Korea, Republic of
City	Incheon
Period	23/11/11 → 26/11/11

Keywords

HILs
onboard control
RTOS
software system design
UAV

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications

More information

10.1109/URAI.2011.6145967

Cite this

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abstract = "This paper details the comprehensive software architecture and implementation of an onboard control system developed for a small-scale unmanned aerial vehicle (UAV) helicopter. A PC-104 computer stack is devoted to flight control as well as the interaction with other devices in the onboard system. The consideration to construct the software system is primarily focused on its real-time runtime environment and its competence of flexible reconfiguration. As a result, the system is developed under QNX Real-time Operating System (RTOS). The interaction function of the flight control computer with external devices is built in modules and processes running in a predefined order. The entire software system has been successfully tested in both actual field flights and a hardware-in-the-loop simulation (HILs) environment. The flight results have shown that the software system is competent enough to go on with automatic flight of the UAV helicopter.",

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Tang, YR & Li, Y 2011, The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter. in URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence., 6145967, pp. 228-233, 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011, Incheon, Korea, Republic of, 23/11/11. https://doi.org/10.1109/URAI.2011.6145967

The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter. / Tang, Yi Rui; Li, Yangmin.

URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence. 2011. p. 228-233 6145967.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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The software architecture of a reconfigurable real-time onboard control system for a small UAV helicopter

Abstract

Conference

Keywords

ASJC Scopus subject areas

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