REDUAS 2019 Paper Abstract

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Paper MoD12T1.4

Dardoize, Tristan (School of Aerospace, Transport and Manufacturing, Cranfield Univ), Ciochetto, Noé (Cranfield University), Hong, Ju-Hyeon (Cranfield University), Shin, Hyo-Sang (Cranfield University)

Implementation of Ground Control System for Autonomous Multi-Agents Using QGroundControl

Scheduled for presentation during the Regular Session "Airspace Management" (MoD12T1), Monday, November 25, 2019, 11:10−11:30, Room T1

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), November 25-27, 2019, Cranfield University, Cranfield, UK

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Air Vehicle Operations, Autonomy, Manned/Unmanned Aviation

Abstract

This paper presents an integration approach to deploy new mission planning methods for multi-vehicle systems within an open source ground control system (GCS), i.e. QGroundControl. As the autonomous mission planning features of QGroundControl consist in pre-planning waypoints within a geofence, there is no way to deal with scenarios where the agents of the swarm must counter moving targets of reduced size, or more generally any scenario where an algorithm of path planning is preferred instead of a manual planification. The proposed solution consists in extending the "toolbox" of the application (QGCToolbox) with a new tool (QGCTool), in implementing a new controller and modifying views (FlightDisplayViewMap, PlanView) while enabling information to flow between components using Qt's signals and slots. A test scenario is presented to verify new mission planning interface and path planning algorithm, that involves in this case eight UAVs operating in a zone to protect and an area to attack. Also a workaround is proposed to increase the default limitation of connections to QGroundControl. The proposed methodology is tested and validated with software in the loop and flight test.

 

 

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