| This thesis describes the Component-Based Three-Layer Autonomy (CB3A) architecture for controlling a UAV. CB3A is a new interpretation of a reactive hybrid three-layer architecture in which each layer contains one or more components that communicate using publish/subscribe messaging. The State-Based Event-Driven (SBED) sequencer is a fundamental component of CB3A, and is used to control autonomous behaviour specified using a UML 2 behavioural state machine. In addition, the Orbit Manoeuvre, a fallback mechanism for fixed-wing UAV obstacle avoidance, is presented. As part of the research for this thesis, the UAVSim Testbed was conceived and created to serve as a simulation environment for UAV research and development. |
