Abstract
AbstractThe collaborative flight of unmanned aerial vehicle (UAV) swarm has always been a hot issue in control science. This paper designs a scalable componentized software architecture for the actual scenario of fixed-wing UAV swarm collaborative flight. Base on the hierarchical structure of the UAV swarm system, we analyze the software requirements of functions and performance, and propose an onboard software architecture, which consist of real-time operating system (RTOS), board support package (BSP) and application layer software. In addition, the flight control and swarm communication of UAV swarms are described in this paper. Finally, the proposed software architecture is verified by field test and data analysis.KeywordsUnmanned Aerial Vehicle (UAV)Software architectureSwarmCollaborative flight
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