Enabling High-Performance Onboard Computing with Virtualization for Unmanned Aerial Systems
Enabling High-Performance Onboard Computing with Virtualization for Unmanned Aerial Systems
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DOI：
10.1109/icuas.2018.8453368
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
Baoqian Wang;Junfei Xie;Songwei Li;Yan Wan;Shengli Fu;K. Lu
中科院分区：
文献类型：
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作者：
Baoqian Wang;Junfei Xie;Songwei Li;Yan Wan;Shengli Fu;K. Lu
近年来，无人机系统（UAS）因其广泛的民用和商用应用而备受关注。然而，大多数现有的无人机平台只有有限的计算能力来执行各种延迟敏感操作。为了解决这一问题，本文采用虚拟化技术开发了一个高性能的机载无人机计算平台。具体来说，我们首先讨论了适合无人机机载计算的微型计算机的选择。然后，我们研究了能够有效管理UAS中受限资源的虚拟化方案，灵活地支持UAS应用程序，并实现多个UAS之间的资源共享以实现更高的计算能力。在本研究中，我们分别使用KVM和Docker对虚拟机（VM）和容器这两种具有代表性的虚拟化技术的性能（如计算、网络、隔离等）进行了比较。大量的实验结果证明了VM和容器之间的性能权衡，并验证了虚拟化在支持真实UAS应用程序方面的好处。
In recent years, unmanned aerial systems (UAS) have attracted significant attentions because of their broad civilian and commercial applications. Nevertheless, most existing UAS platforms only have limited computing capabilities to perform various delay-sensitive operations. To tackle this issue, in this paper, we develop a high-performance onboard UAS computing platform with the virtualization technique. Specifically, we first discuss the selection of microcomputers that are suitable for UAS onboard computing. We then investigate virtualization schemes that can effectively manage constrained resources in UAS, flexibly support UAS applications, and enable resource sharing among multiple UAS to achieve higher computing power. In our study, we compare the performance (such as computing, network, isolation, etc.) of two representative virtualization techniques including virtual machine (VM) and container, using KVM and Docker, respectively. Extensive experimental results demonstrate the performance trade-offs between VM and container, and validate the benefits of virtualization in supporting real UAS applications.