基于自组网策略的多机编队与防撞任务研究

Multi-UAVs Formation Control and Avoidance Technology Based on Ad-hoc Network Strategy

关键词:  自组网  编队控制  避障策略  轨迹规划

Key words:  Ad-hoc network  Formation control  Obstacle avoidance  Trajectory planning

摘要:

近年来多旋翼无人机编队飞行技术取得了巨大的突破，将无人机技术与自组网技术相结合将会促进无人机集群技术的发展。为了促进无人机编队飞行技术的发展，以5架六旋翼无人机为研究对象，重点研究了基于自组网策略的多旋翼无人机队形组成、队形保持、队形重构以及飞行过程中的避碰策略，设计了数据闭环的地面编队控制软件并进行试飞验证。测试结果表明，该数据闭环地面编队控制软件稳定可靠，实现了编队队形组成、保持、重构以及在队形变换过程中的机间避碰等功能，对多旋翼无人机编队飞行工程化实现具有一定的参考价值。

Abstract:

In recent years, the flying technology of multi-rotor UAVs formation has made a huge breakthrough. The development of the swarm technology has been promoted by combining the UAV technology with the ad-hoc network technology. In order to promote the flying technology of UAV formation, five six-rotor UAVs are taken as research objects. The research focuses on the ad-hoc network strategy-based multi-rotor UAVs formation control for formation maintenance, formation reconstruction and the anti-collision function in transforming formation's process. A kind of data closed-loop formation control software is designed and tested for formation flight stability. The test results show that the closed-loop formation control software is stable and reliable, and can realize the formation maintenance, reconstruction and collision avoidance in the process of formation transformation. It has certain reference value for the realization of multi-rotor UAVs formation flight engineering.