Researches On The Adaptive Adjustment Of UAV Configurations As Resources Change

As the infrastructure of the information society,software often faces the challenges of continuous changes in external resources,which leads to unpredictable software failures,such as affecting the performance of the software in the light or the life of the software in the heavy.Therefore,it is very important to ensure that the software system can operate stably.In recent years,the field of UAV has developed rapidly,and the function of UAV has increased rapidly.However,UAV is sensitive to power resources and consumes power quickly.It is difficult to cope with diverse flight missions and user needs.At the same time,the scarcity of power resources often leads to serious consequences.Therefore,it has important practical significance to realize adaptive adjustment of UAV software.In order to solve the software resources and the environment change on the influence of the software running,many researchers have devoted to build adaptive software system.The researchers favorite means is to create an adaptive model.The method is often to deploy from software design,until the software running.The whole process is very complex,needing strong domain knowledge,and different models have their own characteristics and often only apply to a software resource.Researches shows that in adaptive software system,software configuration is an important means to adjust software operation.The investigation results of UAV flight control software in this project show that configuration options can directly affect the power consumption of UAV.Therefore,we hope to adjust the software configuration adaptively according to the external environment to adapt to the change of resources.We design and implement Conf-Adaption,a tool that can automatically adjust the software configuration according to the change of external resources.Specifically,this paper designs a lightweight resource dependency analysis method to analyze the dependencies between software configuration options and resources,and obtains the configuration options that affect resource consumption.Then,Conf-Adaption adjusts the configuration options according to the configuration adjustment strategy to adapt or satisfy the flight mission.The main work of this paper is as follows:1.We classify 503 configuration options of the UAV software Ardupilot and track the execution path of 39 configuration options in the software code,and found that the configuration options of the software would affect the software resources.Through the experiment of 5 configuration items,we found that the setting of configuration options will affect the consumption of UAV power resources.Therefore,the feasibility of adjusting the configuration options to cope with resource changes is verified.2.This paper proposes a new lightweight resource dependency analysis method.The ranking of software configuration options about software power resources isobtained through program analysis.We first perform a slice analysis of the software to get the sets of functions affected by the software configuration options.And then the power consumed by the function and the frequency of function execution are obtained by the method of code instrumentation.After that we could obtain the ranking of configuration options and filter the configuration options for configuration adaptive adjustment.3.We design and implement Conf-Adaption,a configuration adaptive adjustment tool for UAV system,to automatically adjust the software configuration when the environment,missions,resources change.We build a knowledge repository of configuration adjustment.Considering factors such as stability,reliability and minimizing modification,the configuration adjustment knowledge repository includes(1)the relationship between configuration options and UAV missions;(2)the relationship between the value of configuration options,current power of UAV and flight time.When the resources,environment and missions change,the software configurations are automatically adjusted according to the configuration adjustment knowledge repository.The experimental results show that Conf-Adaption can automatically adjust the UAV configuration options and the 90.5% adjustments can meet the requirements of the mission and effectively extend the flight time.