A distributed embedded software architecture for multiple Unmanned Aerial Vehicles

In order to deploy intelligent, next-generation applications on Unmanned Aerial Vehicles (UAVs), we must first develop a software architecture that supports onboard computation and flexible communication. This thesis presents an Onboard Planning Module developed from an embedded PC/104 Linux-based computer that communicates directly with the UAV's autopilot to retrieve telemetry data and update the UAV's flight path. A serial communication program exchanges data with the UAV's autopilot while a multithreaded module enables concurrent onboard Mixed-Integer Linear Programming (MILP) optimization. The Mission Manager Graphical User Interface (GUI) monitors the status of each Onboard Planning Module on a team of UAVs using the onboard planning protocol. Two task assignment scenarios are simulated to demonstrate the system operating with both a single and multiple UAV task selection algorithm.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Matczynski, Michael J

Advisor dc:contributor.advisor

• Jonathan P. How.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/37210

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/37210