HIERARCHICAL ARCHITECTURE OF AN AUTONOMOUS UNMANNED AERIAL VEHICLE (UAV) USING MULTIWII AND RASPBERRY PI

Abstract

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.