Multilevel control structure for autonomous robotic aircraft operation
Danilo Bassi · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
In this paper, a global control structure for autonomous robotic aircraft is proposed. The main objective of this advanced control structure is to provide the unmanned aircraft with the necessary autonomy, at different levels, so that it can accomplish complex missions, like autonomous exploration and patrolling, without the remote attendance of an operator. The solution proposed is based on a robotic methodology that considers a multilevel control structure, with different real time requirements, where each level is built on multiple interconnected and clearly defined modules. The proposed control structure consists of a high level mission control and supervision module, an intermediate level control module for navigation and obstacle management, and at the lower level, the control module which deals with stability and vessel survival. An implementation of the control architecture is shown for a UAV platform used for geophysical exploration.