Research And Realization Of Control Strategy Of “Shepherd” Rotor UAV

Rotor UAV flight plays an important role in the target search and tracking for the unique properties of flexibility and security. It has become a hot topic that Rotor UAV complete tracking control tasks with airborne sensors. In this paper the IARC is taken as the background.The control strategy that the Rotor UAV flight how to control the moving targets on the ground has been studied. UAV search the targets, track and control the objects and avoid moving obstacle with airborne sensors.Firstly, in order to improve competitive efficiency and reduce flight hazards, a real environment simulation platform of shepherd’s task based on distributed architecture is built. The rules of the game and the system requirements are analyzed, and the functional requirements are determined;The technical characteristics of the distributed mechanism of the simulation platform is analyzed;Combined with the advantages of OpenGL to support cross platform programming, a sheep simulation platform is built and the motion mode of ground target and obstacle related to simulation are introduced.Secondly, UAV is strongly coupled, under-actuated and nonlinear, according to these characteristics, a dynamics model is established, And based on PID control algorithm, a double loop controller is designed: inner loop is attitude control and outer loop is position control. The double-loop PID control algorithm can guarantee the stability of UAV flight was verified through the hover experiment and tracking experiment, and the condition of competition was finished.Thirdly, a set of rotor UAV control strategy that UAV how to control the moving targets on the ground is put forward. A multi-target classification based on partition decision tree is studied to solve the multi-objective problem. The target being tracked is determined by it;For the possibility loss of visual target tracking problems,the target tracking strategy based on the target trajectory prediction and the height increase is put forward.;In order to intercept moving target quickly and accurately,a interception strategy based on the kinematic model of the targets and UAV is designed;UAV obstacle avoidance strategy based on improved artificial potential field method and tangent circle method is put forward to solve the problem of little efficiency of obstacle avoidance that using traditional artificial potential field method. The experiment results show the effectiveness of the method.Finally, the control strategy is verified by simulation and flight test.The actual flight experiment and the simulation experiment is showed to verify the availability and correctness of the control strategy; UAV avoidance experiment test the effectiveness of obstacle avoidance algorithm.