| 題名： | UAS Delivery Multi-rotor Autopilot based on Audi-pilot Framework using S-Bus Protocol |
|---|
| 作者： | A. S. Hou, C. E. Lin* |
|---|
| 會議名稱： | 2022 Integrated Communications, Navigation, and Surveillance (ICNS) Conference |
|---|
| 發表頁數： | 10頁 |
|---|
| 發表地點： | Virginia, in the Washington, D.C. |
|---|
| 發表年份： | 2022 |
|---|
| 發表月份： | 05 |
|---|
| 摘要： | Autopilot flight control is most important
to assist non-professional pilot to operate
small unmanned aerial vehicle (UAV). It
simplifies flight operation with minor pilot
intervention and maintains system control
reliability and safety. A UAV flight system is
designed and implemented with full
autonomous operation via S-BUS and
MAVLink protocols. System hardware and
firmware is proposed to realize autonomous
functions based on the Ardu-pilot
Framework on 32-bit system-on-chip (SoC).
The SoC communicates to UAV Pixhawk
flight controller through S-BUS and
MAVLink protocols. Path planning is
constructed to direct autonomous flight
control by waypoint assignments on flash
memory. LiDAR device is added for detect
and avoid (DAA) to obstacle and terrain to
secure flight. Remote operator commands
can be uplink to change flight route or
abandon flight in case of emergency. With
flight tests, the proposed Self-Fly exhibits
excellent characteristics of constraint-free
from flight controller board. One-key
command for full mission automatically is
designed to execute system performance.
|
|---|
| 關鍵字： | |
|---|
| 英文關鍵字： | : Autonomous flight, UAV autopilot, S-Bus, MAVLink, detect and avoid. |
|---|
| 摘要下載： | 下載  |
|---|
| 全文下載： | 未授權提供下載 |
|---|
| Mail： | ashou@mail.cjcu.edu.tw |
|---|
