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A Sequence Control System for Onboard Mission Management of an Unmanned Helicopter

Adolf, Florian-Michael und Thielecke, Frank (2007) A Sequence Control System for Onboard Mission Management of an Unmanned Helicopter. In: AIAA Infotech@Aerospace 2007 (AIAA 2). American Institute of Aeronautics and Astronautics, Inc.. Infotech@Aerospace 2007, Conference and Exhibit, 2007-05-07 - 2007-05-10, Rohnert Park, California.

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Offizielle URL: http://pdf.aiaa.org/preview/CDReadyMIA07_1486/PV2007_2769.pdf

Kurzfassung

This paper presents a solution to the onboard mission management problem for UAVs. Inspired by successful approaches from the mobile robotics domain, the proposed architecture achieves hybrid control by combining ideas from the behavior-based paradigm and a three-layered high-level control architectures. A Sequence Control System implements the essential components of this architecture. It is open with respect to its interfaces to other onboard components (e.g. the obstacle avoidance system). Events and commands sent by a remote operator or an onboard component can be integrated into the system in a plug-andfly fashion. A remote operator can send direct commands on different abstraction levels. The solutions to more complex mission problems and events (e.g. onboard trajectory planning or reacting on a data link loss) can be delegated using high level commands. To assure the safe operation of the Sequence Control System, the system is characterized by multiple techniques. First, the event-based decision logic is modeled as a State Chart model. Second, a truth table of valid external commands assures that only permitted commands are accepted by the event handling. Finally, a grammar-based plausibility check avoids illegal behavior commands within a mission plan. The system is implemented onboard the UAVs of the ARTIS program. It is validated in unit tests, and tested in software-in-the-loop and hardware-in-the-loop simulations. As a result, the system allows a robust, deterministic high level control of UAVs. It allows an operator to control a UAV at different levels of autonomy, ranging from common joystick control to execution of prearranged missions.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:A Sequence Control System for Onboard Mission Management of an Unmanned Helicopter
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Adolf, Florian-MichaelNICHT SPEZIFIZIERT
Thielecke, FrankHamburg University of Technology, D-21129 Hamburg, Germany
Datum:10 Mai 2007
Erschienen in:AIAA Infotech@Aerospace 2007
Referierte Publikation:Nein
In ISI Web of Science:Nein
Verlag:American Institute of Aeronautics and Astronautics, Inc.
Status:veröffentlicht
Stichwörter:UAV, Mission Management, State Chart, UML, Model-based Testing
Veranstaltungstitel:Infotech@Aerospace 2007, Conference and Exhibit
Veranstaltungsort:Rohnert Park, California
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:2007-05-07 - 2007-05-10
Veranstalter :AIAA
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:keine Zuordnung
HGF - Programmthema:keine Zuordnung
DLR - Schwerpunkt:Luftfahrt
DLR - Forschungsgebiet:L - keine Zuordnung
DLR - Teilgebiet (Projekt, Vorhaben):L -- keine Zuordnung
Standort: Braunschweig
Institute & Einrichtungen:Institut für Flugsystemtechnik > Systemautomation
Hinterlegt von: Florian-Michael Adolf
Hinterlegt am:07 Jan 2008
Letzte Änderung:12 Dez 2013 20:27

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