HIERARCHICAL ARCHITECTURE OF AN AUTONOMOUS UNMANNED AERIAL VEHICLE (UAV) USING MULTIWII AND RASPBERRY PI
The tasks performed by the autonomous robot are complex and multi-faceted. The robot should
perform low-level tasks related to maintaining the set flight parameters as well as make complex decisions related
to the robot task. It would be difficult to accomplish these tasks based on a simple control architecture. In many
classic solutions, a hierarchical architecture is used, where the lower layers are responsible for the operation of
sensors and actuators in accordance with the control algorithms. Higher layers are responsible for the tasks of
navigation, location and implementation of set goals. In our solutions based on open hardware and software, we
propose a robot architecture where low-level control is implemented by the Arduino controller with MultiWii
software and higher tasks are carried out by the Raspberry Pi computer using the Linux operating system. The
solution proposed is very flexible and allows quick and relatively easy prototyping. Another important advantage
is the open nature of the hardware and software.
Papers must be accompanied by the following submission letter (form available at journal’s website), signed by all Authors: Declaration
Author, who submits the paper, bears the main responsibility for given data. „Ghostwriting” and „guest authorship” are the symptoms of scientific dishonesty, and all discovered cases will be exposed, including informing suitable entities. Authors are also required to fill in De Gruyter Open Access License. The form should be sent to the Editorial Office via electronic mail to the e-mail address: firstname.lastname@example.org.