Publication: Diseño de Centro de Control Versátil para la monitorización y control de vehículos autónomos
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2014
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Abstract
El objetivo de este trabajo de fin de Máster es diseñar un prototipo de Centro de Control Versátil que permita la inclusión de vehículos autónomos de naturaleza heterogénea y la reconfiguración de elementos gráficos de monitorización y control de forma que se mejore la ergonomía del operador.
Un centro de control debe realizar la monitorización de datos de telemetría (p. ej. velocidad, longitud, latitud, orientación) además de proporcionar los elementos de control necesarios para dirigir los vehículos monitorizados. Este tipo de software suele estar estrechamente ligado al vehículo al que monitoriza debido a la heterogeneidad de sus controladores y primitivas de envío de datos de telemetría.
Por tanto, el reto al que nos enfrentamos en este proyecto, es lograr una estructura lo suficientemente flexible como para lograr monitorizar y controlar cualquier número de vehículos heterogéneos independientemente del hardware y software que los formen.
Esto lo lograremos en el Centro de Control Versátil mediante un software que extraerá de un documento XML los parámetros necesarios para su configuración, un interfaz gráfico de usuario reconfigurable y una estructura de comunicaciones sencilla y versátil
The goal of this Essay is to design a prototype of (GCS) Ground Control Station that allow us to include multiple heterogeneous unmanned vehicles and the reconfiguration of monitorization and control graphic elements in order to improve the operator’s ergonomics. A GCS must monitorize the telemetry data (e.g. speed, longitude, latitude, orientation) as well as provide the required control elements to run the monitorized vehicles. This kind of software is usually closely bounded to the vehicle that monitorizes due to the heterogeneity of its controllers and telemetry data sending methods. Seeing that, the main challenge to deal with is to design an adaptable framework that allow us to monitorize and control a variable number of heterogeneous vehicles regardless of their hardware and software. This goal is achieved in the Versatile Control Center by a software that reads from XML archives the configuration parameters, an adaptable graphic user interface and a simple and adaptable communication structure.
The goal of this Essay is to design a prototype of (GCS) Ground Control Station that allow us to include multiple heterogeneous unmanned vehicles and the reconfiguration of monitorization and control graphic elements in order to improve the operator’s ergonomics. A GCS must monitorize the telemetry data (e.g. speed, longitude, latitude, orientation) as well as provide the required control elements to run the monitorized vehicles. This kind of software is usually closely bounded to the vehicle that monitorizes due to the heterogeneity of its controllers and telemetry data sending methods. Seeing that, the main challenge to deal with is to design an adaptable framework that allow us to monitorize and control a variable number of heterogeneous vehicles regardless of their hardware and software. This goal is achieved in the Versatile Control Center by a software that reads from XML archives the configuration parameters, an adaptable graphic user interface and a simple and adaptable communication structure.
Description
Máster en Investigación en Informática, Facultad de Informática, Departamento de Arquitectura de Computadores y Automática, curso 2013-2014