Hardware-software prototype of an unmanned vehicle combining autonomous and controlled modes of operation

• Konstantin S. Shutov

  Konstantin S. Shutov. Far Eastern Federal University. Vladivostok. Russia

• Grinyak V.M.

  Victor M. Grinyak. Vladivostok State University. Vladivostok. Russia

• Andrey V. Artemyev

  Andrey V. Artemyev. Maritime State University named after admiral G.I. Nevelskoy. Vladivostok. Russia

This paper is dedicated to creating a hardware and software prototype of an unmanned vehicle and testing its hardware and software architecture in an attempt to design a universal standard solution for these vehicles. Drones are already an objective reality that determines the future development of land, air, sea, and river transport. There exist all the technical prerequisites for their implementation: global and lo-
cal navigation systems, electronic cartography, communication systems, optical surveillance systems, automatic identification system, methods for automating vehicle control processes, reliable propulsion systems and electricity sources. For any type of transportation, movement along a given trajectory is an ordinary task with well-established methods of solution. Architectural implementations of collaboration and in-
teraction of hardware and software parts of the drone, such as sensors, thrusters, peripherals, and the control part, continue to be a niche for research. This is especially true in cases where the drone is controlled in a combined mode that integrates autonomous (automatic) and remotely controlled modes of operation. Existing unmanned vehicle projects are reviewed. A possible architectural solution, including client, server, and hardware parts, is presented. The architecture of the drone control subsystem is proposed. The suggested solutions have been tested on a car-type drone prototype. Without losing generality, they can be used in any type of drones like land, sea, or air.

Keywords: unmanned vehicle, hardware, software, vehicle control, navigation, automatic control.