An application protocol to integrate a small size helicopter into an IP based ad-hoc network

摘要

In modern multi robot systems, wireless any-to-any communication in combination with highly dynamical network topologies are prerequisites for mobile robots to accomplish complex tasks. This work presents a protocol for steering and controlling a small size helicopter. It fully supports the easy integration into an internet protocol based mobile ad-hoc wireless network, as well as several security and safety issues as it is required for a reliable and robust teleoperation of an unmanned aerial vehicle. The requirements of a helicopter control protocol, as well as implementation and design details on a safe and robust teleoperation are described. Besides these implementation details, also real hardware tests are evaluated to show the seamless functionality and performance of the helicopter control protocol in combination with ad-hoc on demand distance vector routing (AODV) inside the mobile ad-hoc network. It could be proved, that the proposed application protocol for steering a small size helicopter could be used in combination with AODV and relevant parameters for a reliable communication are identified.