论文标题
延迟感知和 - 可预测的通信，带有开放协议堆栈，用于远程无人机控制
Latency-aware and -predictable Communication with Open Protocol Stacks for Remote Drone Control
论文作者
论文摘要
为了创建与其他各种系统和设备相互作用的无人自动驾驶汽车（UAV）的合作，开放和免费的通信系统是必须的。本文介绍了这种通信系统的实现，以将Crazyflie Nano-Drone纳入无人机平台。该协议堆栈利用了开放可靠的可靠实时运输（PRRT）协议，该协议增加了由标准Internet协议组成的堆栈的延迟意识和 - 预测性。为了使无人机可以通过Wi-Fi接收并回复控制命令，它已使用Raspberry Pi扩展，该Raspberry Pi运行了Crazybridge的两个变体，这是一种将控制板连接到网络的软件。为了评估该解决方案用于控制应用程序的实用性，已经对通信进行了分析，重点是延迟属性。我们的调查表明，尽管使用了开放协议堆栈 - 因此选择了专门的实现，但所产生的潜伏期与专有链接的潜伏期相同的数量级（4至9毫秒）。
In order to create cooperating swarms of Unmanned Autonomous Vehicles (UAVs) that also interact with various other systems and devices, open and free communication systems are mandatory. This paper presents an implementation of such a communication system to incorporate the Crazyflie nano-drone as a UAV platform. The protocol stack leverages the open Predictably Reliable Real-time Transport (PRRT) protocol that adds latency-awareness and -predictability to stacks composed of standard Internet protocols. To enable the drone to receive and reply to control commands via Wi-Fi, it has been extended with a Raspberry Pi that runs two variants of the Crazybridge---a software to connect the control board to the network. To evaluate how practical this solution is for the use in control applications, the communication has been analysed with a focus on the latency properties. Our investigations show that despite using the open protocol stack---and hence opting out of specialised implementations---the resulting latencies are in the same order of magnitude (4 to 9 ms) as the latency of the proprietary link.
