The software architecture of the Berkeley UAV Platform

Author

Tisdale, John ; Ryan, Allison ; Zennaro, Marco ; Xiao, Xiao ; Caveney, Derek ; Rathinam, Siva ; Hedrick, J. Karl ; Sengupta, Raja

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

1420

Lastpage

1425

Abstract

This paper details the software architecture of the Berkeley unmanned aerial vehicle (UAV) platform. Developed over the course of three years, this platform has successfully demonstrated autonomous vision-based navigation and obstacle avoidance. A software architecture has been developed to allow for collaborative control concepts to be examined. This modular architecture has been shown to be effective for use in allowing a team of UAVs to collaboratively perform a set of missions. The performance of the architecture was demonstrated using 3 UAVs to perform autonomous collaborative patrolling and vision-based navigation

Keywords

collision avoidance; control engineering computing; navigation; remotely operated vehicles; software architecture; Berkeley unmanned aerial vehicle platform; autonomous vision-based navigation; collaborative control; obstacle avoidance; software architecture; Aircraft navigation; Application software; Collaboration; Collaborative software; Computer architecture; Hardware; Software architecture; Strategic planning; Testing; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776850

Filename

4776850