HIERARCHICAL ARCHITECTURE OF AN AUTONOMOUS UNMANNED AERIAL VEHICLE (UAV) USING MULTIWII AND RASPBERRY PI
Andrzejewski, Mateusz, Adam Szmigielski · 2019
The tasks performed by the autonomous robot are complex and multi-faceted. The robot shouldperform low-level tasks related to maintaining the set flight parameters as well as make complex decisions relatedto the robot task. It would be difficult to accomplish these tasks based on a simple control architecture. In manyclassic solutions, a hierarchical architecture is used, where the lower layers are responsible for the operation ofsensors and actuators in accordance with the control algorithms. Higher layers are responsible for the tasks ofnavigation, location and implementation of set goals. In our solutions based on open hardware and software, wepropose a robot architecture where low-level control is implemented by the Arduino controller with MultiWiisoftware and higher tasks are carried out by the Raspberry Pi computer using the Linux operating system. Thesolution proposed is very flexible and allows quick and relatively easy prototyping. Another important advantageis the open nature of the hardware and software.