The Development of Unmanned Vehicle Control System Based on Embedded Microprocessor

• Main Authors: Ardi Wang, 王國智
• Other Authors: Hsieh, Chen
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/08176699467685106379

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 94 === The goal of this thesis is to develop a control system for unmanned vehicle applications, which is based on embedded microprocessor and FPGA (Field Programmable Gate Array); This system will integrates various sensors required by most unmanned vehicle applications and provides standardized interfaces for control laws. The sensors in this system include a GPS (Global Positioning System) receiver, a altimeter, a 3-axes gyro, a wireless data link and a recording system; All hardware accesses from control laws will be abstracted and instead of standardized APIs (Application Program Interface) with identical data formats. Each control law be treated as a independent task and shares entire system resources with others; There is no OS (Operating System) resident in this system, instead of a core software; It will manages all hardware and schedules all control laws in non-preemptive multitasking algorithm. A remote station is a part of this system also, which consists of a PC (Personal Computer) and a wireless data link; The program running in remote station is able to monitor and control vehicle via wireless data link, and locates position of vehicle on a open map database.