Title :
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
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;
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
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776850
