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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >Drone Reconfigurable Architecture (DRA): a Multipurpose Modular Architecture for Unmanned Aerial Vehicles (UAVs)
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Drone Reconfigurable Architecture (DRA): a Multipurpose Modular Architecture for Unmanned Aerial Vehicles (UAVs)

机译：无人机可重新配置建筑（DRA）：无用的空中车辆的多功能模块化架构（无人机）

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摘要

This work proposes the Drone Reconfigurable Architecture (DRA), which is a modular architecture for UAVs with electrical, mechanical, and computational specifications. The theoretical aspects of the architecture are introduced through a case study with practical implementations aiming to design a multi-rotor UAV, which also includes the manufacturing steps of a functional prototype. Our proposal can be used in a scenario where the capacity of physical reconfiguration of a UAV would confer an enormous advantage to these aircraft in terms of applicability. This happens in the case where each task typically requires a robot with a particular physical architecture (number and position of propellers, autonomy, thrust, sensors, and communication). Results of a set of tests with an aircraft assembly are presented to verify the versatility of the proposed architecture, demonstrating the better performance of these aircraft when compared with conventional UAVs. The proposed methodology allows applications in a variety of scenarios like cargo transportation, support, agriculture, publicity, pest control, surveillance, inspection, and entertainment, between others. In these scenarios, although a software with some generic components could easily control drones to perform all of them, it is unthinkable to consider that a single drone with a particular physical structure would be able to be adapted to all of the tasks necessary (as path following, localization, and mapping).
机译：这项工作提出了无人机可重新配置的架构（DRA），它是具有电气，机械和计算规范的无人机的模块化架构。通过案例研究引入了架构的理论方面，该实际实现用于设计多转子UAV，其还包括功能原型的制造步骤。我们的提案可以在场景中使用，其中UAV的物理重新配置的能力将在适用性方面对这些飞机赋予这些飞机的巨大优势。这种情况发生在每个任务通常需要具有特定物理架构的机器人（螺旋桨的数量和位置，自主，推力，传感器和通信）的情况下。提出了一系列与飞机组件进行测试以验证所提出的架构的多功能性，与传统的无人机相比，展示了这些飞机的更好性能。拟议的方法允许在其他方案中允许应用货物运输，支持，农业，宣传，害虫控制，监控，检验和娱乐，在他人之间。在这些场景中，虽然具有一些通用组件的软件可以轻松控制无人机执行所有这些软件，但是考虑到具有特定物理结构的单个无人机可以适应所需的所有任务（作为路径）是不可想象的关注，本地化和映射）。

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