Autonomous Drones Architecture - Initial proposal
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INITIAL iteration of an architecture for creating autonomous drones. The main idea is to clearly isolate the main components, like safety, autonomy, etc. from each other in a way that it is simple to check the behavior of each component.
Autonomous Drones Architecture - Initial proposal
- 1. Software Architecture for Autonomous Drones Mário H.C.T. 09/01/2015
- 2. Rationale ? Reuse available middleware ? Guarantee that the drone will never allow to be crashed (even if the operator, or soft, wants it)
- 3. Drone MW NuttX OS APM Middleware PX4 Middleware Drone Safety Control AW Autonomic MW A B A uses B Module Key
- 4. Modules ? AW Autonomic MW - Creates ?ight plans based on the coordination of activities with other drones ? Drone Safety Control - Basic rules to guarantee the physical integrity of the drone ? APM Middleware - API for controlling drone orientation, speed, etc. Provides APIs for creating ?ight modes ? PX4 Middleware - Controls the drone motors, integrates the sensors, etc. ? NuttX OS - Real Time Operating System
- 5. Rationale - Drone Safety Control ? Keep the complexity low ? Possibility to have formal proofs of the software used ? Few basic rules aiming at guaranteeing the safety of the device
- 6. Rationale - Drone Safety Control ? Simple rules to guarantee drone integrity ? Eg. ? if battery has X Wh and Altitude >= Y => land ? if ?ying into direction of wall => stop ?ying towards that direction