DOI: 10.17587/prin.16.547-557

Software Platform for Unmanned Devices Control Systems Creating with Configurable Architecture and Algorithms

V. M. Grinyak, Dr. Sci. of Engineering Sciences, Professor, victor.grinyak@gmail.com, Vladivostok State University, Vladivostok, 690014, Russian Federation, K. S. Shutov, Postgraduate Student, con.shutoff@yandex.ru, Far Eastern Federal University, Vladivostok, 690922, Russian Federation, A. V. Artemyev, Ph.D. in Engineering Sciences, Associate Professor, artemyev@msun.ru, Maritime State University, Vladivostok, 690059, Russian Federation, A. S. Devyatisilnyi, Dr. Sci. of Engineering Sciences, Principal Researcher, devyatis@iacp.dvo.ru, Institute of Automation and Control Processes, Vladivostok, 690041, Russian Federation

Corresponding author: Viktor M. Grinyak, Dr. Sci. of Engineering Sciences, Professor, Vladivostok State University, Vladivostok, 690014, Russian Federation, E-mail: victor.grinyak@gmail.com

The paper presents a developed software platform for controlling unmanned devices with the ability to dynamically change algorithms and control modes without the need to stop work or flash the equipment. The main purpose of creating this system is to ensure flexible adaptation of unmanned devices to changing operating conditions and tasks performed. The software solution is based on a modular architecture that includes four key subsystems: subsystem for generating control commands, subsystem for executing control commands, subsystem for linking software and hardware components, and subsystem for configuration. A specialized declarative configuration description language based on an XML-like grammar has been developed for the last one, which makes it easy to integrate and modify controls. The developed system was implemented on a Raspberry Pi 4 single-board computer and demonstrated high stability and performance during field tests. The experiments carried out have shown the possibility of rapid switching between different control algorithms depending on external conditions, including using visual recognition of colored lines. The architecture of the solution provides asynchronous command processing, resistance to communication loss and high execution speed — up to 83 commands per second. The platform is versatile and can be used for a wide range of unmanned devices, while providing flexibility, reliability and extensibility of control systems.

Keywords: unmanned device, drone, control system, software platform, software architecture, control mode, control algorithm, control command, configuration

pp. 547—557

For citation:
Grinyak V. M., Shutov K. S., Artemyev A. V., Devyatisilnyi A. S. Software Platform for Unmanned Devices Control Systems Creating with Configurable Architecture and Algorithms, Programmnaya Ingeneria, 2025, vol. 16, no. 11, pp. 547—557. DOI: 10.17587/prin.16.547-557. (in Russian).

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