Integrating Mission Planner to the Flight Control System of a Robotic Airship
José Reginaldo Hughes Carvalho1; Alexandra Moutinho2; José Raul Azinheira2
1 Instituto de Computação, Universidade Federal do Amazonas; 2 Instituto Superior Técnico, Universidade de Lisboa
Resumo
This work proposes a mapping from flight primitives to the UAV low level controller that incorporates the various flight actions of a robotics airship. As most VTOL (vertical take-off and landing) aircraft, the airship can hover, move vertically and sustain a cruiser flight. The goal is to integrate flight plan related tasks into the low-level software, thus the flight plan can be executed without the assistance of a robotics middleware (e.g. ROS). The main motivation of this integration is to encapsulate mission critical activities in such a way that the middleware focuses on planing, mission supervision and high-level activities like fault detection, and mission re-planning. To validate the approach the authors prepared a surveillance mission in a simulation tool specifically designed for airships. This work is in the context of the development of a robotics airship for scientific application and environmental monitoring of the Amazon rain forest.
Palavras-chave: Aerial Unmanned Vehicles; Aerial Navigation; Lateral Control