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Aerospace Instrument-Making Annotation << Back
Construction principles of multi-tier architectures of control systems for unmanned aerial vehicles |
Zubarev D.V.Makarov D.А.Panov A.I.Yakovlev K.S.
Nowadays focus of the research community worldwide switches from ground to aerial robotics due to the rapid development of new aerial platforms with vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) being the main subject of interest. In our work various approaches to the construction of the control system architectures for VTOL UAVs are considered and analyzed. Based on the analysis presented it is concluded that the most suitable architecture is a hierarchical three-tier scheme (strategic level, tactical level, control level). Problems to be solved at each level are described and various methods, algorithms and approaches potentially useful for solving them are presented and analysed. Based on the results of such analysis the most promising methods are identified.
Key words: unmanned aerial vehicles, helicopters, control system architecture, computer cognitive mod-eling, trajectory planning methods, control algorithms, controllers.
Contacts: E-mail: dvzubarev@yandex.ru
Pp. 10-28. |
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