Functional Architecture using ROS for Autonomous UAVs

Johvany Gustave, Jamy Chahal, Assia Belbachir

Abstract

Unmanned Aerial Vehicles (UAVs) are used for several applications due to their stability and versatility. In this paper, we developed a functional architecture for autonomous UAVs using Robot Operating System (ROS). Due to its flexibility and its easy-to-use implementation, our architecture simplifies embedding autonomous behaviours for any kind of UAV. This hierarchical architecture is divided into three layers: decision, control and perception layer. In this paper, all the layers and their implementation under ROS are explained and detailed.

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