This thesis describes the design, implementation and evaluation of a control architecture for Unmanned Aerial Vehicles (UAVs) deployed in scenarios where a very high precision and accuracy in the execution of the respective tasks is required. The developed architecture is easy to adapt to the different requirements of the scenarios and always follows the main principle The right UAV for every mission. This means that it is not sufficient to use existing drones, flight controllers or UAV firmware for the special requirements for high accuracy and precision of the various scenarios. Instead, an adaptable control architecture with multiple levels of abstraction was designed, allowing adjustments at every level to achieve the best possible outcome. This controller architecture consists of three levels: Low-level controller, high-level controller and project-specific controller. The low level controller manages the control tasks with the highest priority directly on the flight controller hardware in real time using the operating system RODOS. The high level controller utilizes the implemented capabilities of the low level controller to coordinate and oversee more complex tasks that might otherwise overload the precious limited resources of the flight controller itself and also provides the interface for the project-specific controllers. As the name states, these controllers can be specifically implemented for the respective projects and their requirements by using the underlying functions of the low and high level controller. In contrast to most other research done in the field of UAV control, the architecture in this work was developed for real-world scenarios and has also been evaluated in these. This thesis describes the steps of the development from simulation through laboratory tests to the real environments. This development is presented in detail using three underlying research projects: MIDRAS presents a drone defense system consisting of physically coupled UAVs that carry a net in a formation flight to ...
Control of UAVs in Real-World High Precision Scenarios ; Steuerung von UAVs mit hoher Präzision in realen Einsatzszenarien
2024-01-01
Theses
Electronic Resource
English
Application of UAVs in Precision Agriculture
Springer Verlag | 2019
|Online Contents | 2003
Online Contents | 2004