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Porting ardupilot to ESP32: towards a universal open-source architecture for agile and easily replicable multi-domains mapping robots / Laurent Beaudoin (2020)  

Public contenu dans XXIV ISPRS Congress, Commission 2 / Nicolas Paparoditis (2020)   Titre : Porting ardupilot to ESP32: towards a universal open-source architecture for agile and easily replicable multi-domains mapping robots Type de document : Article/Communication Auteurs : Laurent Beaudoin, Auteur ; Loïca Avanthey, Auteur ; Charles Villard, Auteur Editeur : International Society for Photogrammetry and Remote Sensing ISPRS Année de publication : 2020 Collection : International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, ISSN 1682-1750 num. 43-B2 Projets : 1-Pas de projet / Conférence : ISPRS 2020, Commission 2, virtual Congress, Imaging today foreseeing tomorrow 31/08/2020 02/09/2020 Nice (en ligne) France Archives Commission 2 Importance : pp 933 - 939 Format : 21 x 30 cm Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] architecture logicielle [Termes IGN] code source libre [Termes IGN] logiciel libre [Termes IGN] robot Résumé : (auteur) In this article, we are interested in the implementation of an open-source low-level architecture (critical system) adapted to agile and easily replicable close-range remote sensing robots operating in multiple evolution domains. After reviewing the existing autopilots responding to these needs, we discuss the available hardware solutions and their limits. Then, we propose an original solution (software and hardware) that we developed to obtain a universal low-level architecture for all our exploration robots, whatever their environment of evolution, and the steps needed to make it run on our chosen family of micro-controllers: the ESP32. Finally, we present the operational results obtained on our different platforms (land, surface, submarine and air), their limits and the envisaged perspectives. Numéro de notice : C2020-011 Affiliation des auteurs : UGE-LASTIG+Ext (2020- ) Thématique : INFORMATIQUE Nature : Communication nature-HAL : ComAvecCL&ActesPubliésIntl DOI : 10.5194/isprs-archives-XLIII-B2-2020-933-2020 Date de publication en ligne : 12/08/2020 En ligne : https://doi.org/10.5194/isprs-archives-XLIII-B2-2020-933-2020 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=95662