JCSE, vol. 2, no. 4, pp.357-374, 2008

DOI:

Experimental Evaluation of Unmanned Aerial Vehicle System Software Based on the TMO Model

Hansol Park, Doo-Hyun Kim, Chun-Hyon Chang Jung-Guk Kim
Department of Computer Science, Konkuk University, Seoul, Korea|Hankuk University of Foreign Stuidies, Korea

Abstract: Over the past few decades, a considerable number of studies have been conducted on thetechnologies to build an UAV (Unmanned Aerial Vehicle) control system. Today, focus inresearch has moved from a standalone control system towards a network-centric control systemfor multiple UAV systems. Enabling the design of such complex systems in easilyunderstandable forms that are amenable to rigorous analysis is a highly desirable goal. In thispaper, we discuss our experimental evaluation of the Time-triggered Message-triggered Object(TMO) structuring scheme in the design of the UAV control system. The TMO scheme enableshigh-level structuring together with design-time guaranteeing of accurate timings of variouscritical control actions with significantly smaller efforts than those required when using lower-level structuring schemes based on direct programming of threads, UDP invocations, etc. Oursystem was validated by use of environment simulator developed based on an open source flightsimulator named FlightGear. The TMO-structured UAV control software running on a smallcomputing platform was easily connected to a simulator of the surroundings of the controlsystem, i.e., the rest of the UAV and the flight environment. Positive experiences in both theTMO-structured design and the validation are discussed along with potentials for futureexpansion in this paper.

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