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http://cidesi.repositorioinstitucional.mx/jspui/handle/1024/380| Development of a redundancy system for autopilots | |
| FERNANDO FIDENCIO SOLANO PEREZ | |
| JOSE ANTONIO ESTRADA TORRES | |
| Acceso Abierto | |
| Atribución-NoComercial | |
| PILOTOS AUTOMÁTICOS | |
| "The redundant autopilot hereby presented is aimed to enhance drone reliability and safety. This redundant autopilot is based on two Pixhawk autopilots and a companion computer which supervises the correct operation of the complete system. If one of the autopilots should fail, there is always a redundant autopilot to take over the control of the drone and keep it in the air. The companion computer, runs Ubuntu 16.04, acts as supervisor, deciding which autopilot should control the drone. The communication between autopilots and the companion computer is made over the already widespread MAVLink protocol and, as a result, the redundant system is compatible with all enabled MAVLink autopilots that may exist within the market. Furthermore, this project makes use of the Robot Operating System (ROS) to acquire and process data coming from the autopilots, so that any drone can be enhanced by taking advantage of the already existing collection of tools and packages from the ROS community. In addition, an extra computer can be used as a ground station. This computer can be then used as an extra means of controlling the drone when the RC controller is not available. These characteristics, along with the ones that ROS provides, make this a exible and highly scalable project, which opens the opportunity to develop further projects with an enhancement in safety and reliability." | |
| 2019-02 | |
| Tesis de maestría | |
| Inglés | |
| ALE-MX | |
| Público en general | |
| TECNOLOGÍA DE LA AUTOMATIZACIÓN | |
| Aparece en las colecciones: | Simulaciones de ingeniería y caracterización experimental |
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| Fichero | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
| M-FFSP-2019.pdf | 15.14 MB | Adobe PDF | Visualizar/Abrir |