Theory And Method Research On Synergy Operation Of Multi-unmanned Platform

With the development of science & control theory, unmanned-system has experienced the great leap forward process, and witnessed the emergence of a group of intelligent unmanned systems. According to the difference of working area, unmanned systems can be divided into three classification: unmanned aerial vehicle, unmanned ground vehicle, and unmanned marine vehicle. Although unmanned systems have been applied to various fields, but the ability of a single unmanned platform has limit it’s usage in complexity tasks. As the complexity of task was increased, single unmanned platform reflects the feature of unable to overcome their own limitations, poor inflexibility, and low efficiency. In order to solve these problems, the collaboration of multi-unmanned platforms was widely researched and became the main develop trend of unmanned systems.Firstly, the domestic and foreign research status on the collaboration of multi-unmanned platforms was reviewed in detail. The key technologies in this field were also summarized in this paper, including the architecture, communication, sense, and synergy theory.Then in the second part, the collaboration architecture was researched in-depth. The architecture included: classic architecture, subsumption architecture, reaction architecture, hybrid architecture, hierarchical architecture, ALLIANCE architecture, multi-layer architecture, and the hybrid layered architecture based on behavior. The multi-unmanned system was proposed at the end of this part.Thirdly, a collaboration system test platform was built. A quad-rotor, a PC, and two unmanned vehicles were included. The information showed on the PC screen was collected by the UGVs or UAV and delivered to the PC through 2.4G wireless signal. And the UGVs or UAV could do actions planned by itself or controlled by the PC. The display and control software run on the PC was written with Qt Creater using C++.In the fourth part, the control theory of the unmanned platform were introduced. The quad-rotor modeling, and simulation based on fuzzy adaptive PID control were carried out. The simulation results show that the fuzzy adaptive PID control is better than classic PID control scheme in react time. In addition, the unmanned ground vehicle mathematical modeling, and control strategy were given. The centralized control and individual control of unmanned ground vehicles were also introduced in this part.Finally, a novel avoidance experiment and a straight line formation algorithm were proposed. Simulation experiments was implemented to verify the linear formation algorithm. The formation-avoidance experiment was divided into three parts, include the image obtain, image process, and line formation.