A reconfigurable mission management system based on modular framework for micro UAVs

In this paper, we present the architecture of the reconfigurable mission management system for micro UAVs. The system consists of two subsystems: the onboard system and the ground control station. They all base on the modular framework. All modules are independent to each other. The entire system can reconfigure depending on the requirements of different missions. The method of multi-thread is introduced to realize them. Each thread performs one specific task, such as communication, path planning, control, mission management, health monitor and data logging. Meanwhile, the ground control station provides a friendly interface displaying the real-time status of UAVs. Especially for the onboard system, we mainly detail the mission management computer, which includes a mission management module. Petri net is used to model the vehicle behaviors during the mission.