TY - GEN
T1 - RT-Linux based hard real-time software architecture for unmanned autonomous helicopters
AU - Hong, Won Eui
AU - Lee, Jae Shin
AU - Rai, Laxmisha
AU - Kang, Soon Ju
PY - 2005
Y1 - 2005
N2 - The UAV (Unmanned Aerial Vehicle) performs various kinds of missions while performing autonomous flight navigation. In order to realize all functionalities of the UAV, the software part becomes a very complex hard real-time system because some hard real-time tasks, soft real-time tasks and non-real-time tasks are concurrently working together under a RTOS. In this paper, a hierarchical architecture for Unmanned Autonomous Helicopter System is proposed that guarantees the real-time performance of hard real-time tasks and the re-configurability of soft realtime or non-real-time tasks under the RT-Linux. This software architecture has four layers: hardware, execution, service agent and remote user interface layer according to the reactiveness level for external events. In addition, the layered separation of concurrent tasks makes different kinds of mission reconfiguration possible in the system. An Unmanned autonomous helicopter system was implemented using Kyosho RC Helicopter to test and evaluate the performance of the proposed systems.
AB - The UAV (Unmanned Aerial Vehicle) performs various kinds of missions while performing autonomous flight navigation. In order to realize all functionalities of the UAV, the software part becomes a very complex hard real-time system because some hard real-time tasks, soft real-time tasks and non-real-time tasks are concurrently working together under a RTOS. In this paper, a hierarchical architecture for Unmanned Autonomous Helicopter System is proposed that guarantees the real-time performance of hard real-time tasks and the re-configurability of soft realtime or non-real-time tasks under the RT-Linux. This software architecture has four layers: hardware, execution, service agent and remote user interface layer according to the reactiveness level for external events. In addition, the layered separation of concurrent tasks makes different kinds of mission reconfiguration possible in the system. An Unmanned autonomous helicopter system was implemented using Kyosho RC Helicopter to test and evaluate the performance of the proposed systems.
UR - http://www.scopus.com/inward/record.url?scp=33749061272&partnerID=8YFLogxK
U2 - 10.1109/RTCSA.2005.83
DO - 10.1109/RTCSA.2005.83
M3 - Conference contribution
AN - SCOPUS:33749061272
SN - 0769523463
SN - 9780769523460
T3 - Proceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
SP - 555
EP - 558
BT - Proceedings - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
T2 - 11th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
Y2 - 17 August 2005 through 19 August 2005
ER -