Abstract
Abstract. In this article, we are interested in the implementation of an open-source low-level architecture (critical system) adapted to agile and easily replicable close-range remote sensing robots operating in multiple evolution domains. After reviewing the existing autopilots responding to these needs, we discuss the available hardware solutions and their limits. Then, we propose an original solution (software and hardware) that we developed to obtain a universal low-level architecture for all our exploration robots, whatever their environment of evolution, and the steps needed to make it run on our chosen family of micro-controllers: the ESP32. Finally, we present the operational results obtained on our different platforms (land, surface, submarine and air), their limits and the envisaged perspectives.
Highlights
In close-range remote sensing, whatever the domain of evolution, the vector which displaces the payload holds a critical place
To demonstrate the universality of our solution, we worked on different exploration robots developed by our team to cover all of the evolution environments
We will present the different platforms tested, the first results obtained in terms of autonomy for each of these robots and the current limits of our solution and the perspectives envisaged to push them back
Summary
In close-range remote sensing, whatever the domain of evolution, the vector which displaces the payload holds a critical place. As for the second, it usually takes care of everything that involves making decisions or processing more complex information to realize the objectives of the mission To deal with these complex tasks, the hardware architectures of this hight level is close to classical computer (ARM or X86) and frameworks like Robot Operating System (ROS) are used as a software solution at this level. Due to its strong dependency with the hardware layer, the low level architecture is the most impacted by the specificity of the platform This low-level architecture was initially called in the literature a ”flight controller” and is known as an ”autopilot” with the addition of functionalities allowing different levels of autonomy. It is on this low level unit that we will focus in this article
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