ISSN 2071-8594

Russian academy of sciences

Editor-in-Chief

Gennady Osipov

D.A. Makarov, A.I. Panov, K.S. Yakovlev. Architecture of the multilayered intelligent control system for unmanned aerial vehicles

Abstract.

A range of tasks related to multirotor unmanned aerial vehicles’ (UAVs’) control automation is examined in the paper. A bundle of planning and control methods are proposed and the task of organizing various methods (both newly suggested and known) into a single, integrated UAV control system is addressed. Control process is decomposed into the three layers (levels) and the corresponding architecture is described – STRL architecture (strategic, tactical, reactive, layered). We believe that utilization of the proposed architecture will broad the spectrum of tasks which can be solved by the UAVs coalition in an automated fashion.

Keywords:

multilayered architecture, intelligent control system, unmanned aerial vehicle, sign world model, path planning, non-linear control, Riccati equation.

PP. 18-33.

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