Design, Modeling and Realization of a UAV Based on Multi-Agent Systems on an Embedded Platform


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Abstract


Research and developments related to the Drones (UAV: Unmanned Aerial Vehicle) has been very active in recent years, motivated by recent technological advances in the miniaturization of actuators and electronics. The design of UAVs, low-cost systems, with capacities of autonomous navigation has become possible. The main mission of the UAV will deport the human beyond the natural horizon vision, to accomplish missions at risk or difficult to access for humans. These UAVs have the ability to fly indoor or outdoor environment, they are used for both military and civilian applications. This paper focuses on the areas for improvement of autonomy, flexibility and adaptability of the aircraft during a full flight (takeoff, navigation and landing). To meet this need autonomous control architecture has been developed, it supports various aspects of the development process of the agent, from the design of the agent architecture, to the implementation on the hardware. An original architecture has been developed which allows the real-time control and manage different decisions by evaluating the path to follow and the speed of the UAV. It is deployed on an embedded system platform that provides good computing power for this kind of tasks in addition to managing communication with the ground operator.
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Keywords


Control; UAV; Drone; Autonomy; Multi-Agents; SMA; Embedded System; Intelligent Systems; Autopilot

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