In recent times, Unmanned Aerial Systems (UAS) have been employed in an increasingly diverse range of applications. Numerous UAS market forecasts portray a burgeoning future, with many applications in both the military and civilian domains. Within the civilian realm, UAS are expected to be useful in performing a wide range of missions such as disaster monitoring (e.g. wildfires, earth-quakes, tsunamis and cyclones), search and support, and atmospheric observation. ududHowever, to realise these civilian applications, seamless operation of UAS within the National Air Space (NAS) will be required. Increasing the levels of onboard autonomy will help to address this requirement. Additionally, increased autonomy also reduces the impact of onboard failures, potentially lower operational costs, and decrease operator workload. ududNumerous intelligent control architectures do exist in the literature for mobile robots, space based robots and for UAS. These include: the WITAS project, Open Control Platform, Remote Agent and TRAC/ReACT. However, none of these are specifically targeted at providing the required support for a wide range of civilian UAS missions. Operation of UAS in the NAS for civil applications require robust methods for dealing with emergency scenarios such as performing forced landings and collision avoidance to preserve the safety of people and property. ududThis paper presents a new multi layered intelligent control architecture. The highest layer provides deliberative reasoning and includes situational awareness and mission planning subsystems. The middle layers deals with navigational aspects (such as path planning and manoeuvre generation). Finally, there is a functional control layer which comprises sensor and actuator subsystems and provides reactive functionality to enable forced landings and collision avoidance. Collision avoidance and forced landing technologies are currently under development at the Australian Research Centre for Aerospace Automation (ARCAA).
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机译:近年来,无人航空系统(UAS)已用于越来越多样化的应用范围。大量的UAS市场预测描绘了一个蓬勃发展的未来,在军事和民用领域都有许多应用。在民用领域,无人机系统有望用于执行各种任务,例如灾难监测(如野火,地震,海啸和飓风),搜索和支持以及大气观测。 ud ud但是,要实现这些民用应用,将需要在国家空域(NAS)内无缝运行UAS。增加机载自主性水平将有助于解决这一要求。此外,自主性的提高还减少了机载故障的影响,潜在地降低了运营成本,并减少了操作员的工作量。 ud ud文献中确实存在针对移动机器人,基于空间的机器人和UAS的众多智能控制体系结构。其中包括:WITAS项目,开放式控制平台,远程代理和TRAC / ReACT。但是,这些都没有专门针对为各种民用UAS任务提供所需的支持。在民用NAS中,UAS在民用应用中的操作需要强大的方法来应对紧急情况,例如执行强制降落和避免碰撞,以保护人员和财产的安全。 ud ud本文介绍了一种新的多层智能控制体系结构。最高层提供审议性推理,并包括态势感知和任务计划子系统。中间层涉及导航方面(例如路径规划和机动生成)。最后,有一个功能控制层,它包括传感器和执行器子系统,并提供反应功能以实现强制降落和避免碰撞。澳大利亚航空航天自动化研究中心(ARCAA)目前正在开发避免碰撞和强制着陆的技术。
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