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Fast MAV Control by Control/Status OO-Messages on Shared-Memory Middleware

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Robot Intelligence Technology and Applications 4

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 447))

Abstract

We describe how control/status OO-messages on shared-memory middleware can provide better performing control of a micro-air vehicle (MAV). To illustrate this, we provide a new hardware abstraction for a controller application that is completely analogous to the popular ardrone_autonomy (AA) package that enables the Parrot AR Drone 2.0 quadcopter to be flown using commands over Wi-Fi. For fairness of comparison, we use the OO-messages on shared-memory middleware implementation gusimplewhiteboard in parallel with the ROS AA in the same code-base. We demonstrate the performance improvements associated with using gusimplewhiteboard messaging in place of ROS messages and services. We explain how further performance improvements can be achieved by fully implementing the Time Triggered Architecture (TTA) of the gusimplewhiteboard and its associated tools (clfsm & LLFSMs).

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Notes

  1. 1.

    Available at http://mipal.net.au/downloads.php.

  2. 2.

    We used version 1.4 http://wiki.ros.org/ardrone_autonomy.

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Acknowledgments

The authors wish to thank Dr. Jun Jo who made equipment and infrastructure available.

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Authors and Affiliations

  1. Griffith University, Nathan, QLD, 4111, Australia

    Dimitri Joukoff, Vladimir Estivill-Castro, René Hexel & Carl Lusty

Authors
  1. Dimitri Joukoff
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  2. Vladimir Estivill-Castro
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  3. René Hexel
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  4. Carl Lusty
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Corresponding author

Correspondence to Carl Lusty .

Editor information

Editors and Affiliations

  1. Electrical Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, Canada

    Fakhri Karray

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Queensland, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Hyun Myung

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Joukoff, D., Estivill-Castro, V., Hexel, R., Lusty, C. (2017). Fast MAV Control by Control/Status OO-Messages on Shared-Memory Middleware. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_16

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  • DOI: https://doi.org/10.1007/978-3-319-31293-4_16

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-319-31293-4

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