Autonomous Mission Management for Uavs
نویسندگان
چکیده
An architecture implemented for intermixed planning and execution of an observation mission for an UAV is described. The mission and its constraints are reported. The ProCoSA tool used to specify the UAV desired behaviour through Petri nets is presented. A planning sub-system optimises the 2D itinerary and the 3D associated trajectories while a guidance sub-system computes the controls sent to the modelled UAV. First simulation tests highlight the feasibility of the structure and the reactive capabilities of intermixed planning and execution architecture in nominal and degraded situation.
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