摘要
分析了目前集群无人机协同编队控制过程中存在的问题,基于机器人操作系统,采用模块化的软件结构设计,在有限带宽的数据链基础上,采用高效轻量的通信组网协议,设计了一套模块化的集群无人机协同编队软件系统。基于四旋翼的集群无人机验证平台,提出基于领航-跟随模式的同步路径协同编队控制方法。最后通过5架无人机的仿真与3架无人机飞行试验表明,该无人机平台设计合理,后续可以用于集群无人机系统开发的算法验证。提出的协同编队控制方法简单、适应性好,有一定的工程应用价值。
The problems of current cooperative formation control of UAV swarm is analyzed.A modular software system for swarm UAV cooperative formation which is valuable in modular software structure design,efficient and lightweight communication protocol for the limited bandwidth data chain based on Robot Operating System(ROS).A synchronous path cooperative formation control method is proposed based on the leader-follower mode for a quad rotors UAV swarm test platform.A simulation of five UAVs and a flight test of three UAVs swarm show that the UAV test platform is designed appropriately,and the UAV test platform can be used as an algorithm verification platform for the development of UAV swarm system.The proposed cooperative formation control method is simple,adaptable,and applicable for engineering practice.
作者
胡阳修
赵长春
贾成龙
钱洲元
胡涛
HU Yangxiu;ZHAO Changchun;JIA Chenglong;QIAN Zhouyuan;HU Tao(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)
出处
《航空学报》
EI
CAS
CSCD
北大核心
2022年第S01期100-109,共10页
Acta Aeronautica et Astronautica Sinica
基金
上海市青年科技英才扬帆计划(21YF1417900)
关键词
无人机
ROS系统
领航-跟随
同步路径
协同编队
unmanned aerial vehicles(UAV)
robot operating system(ROS)
leader-follower
synchronous path
cooperative formation
