Cooperative Operation Research Of Four Rotor Unmanned Aerial Vehicle

The four rotor unmanned aerial vehicle is a subject with strong comprehensiveness in recent years,with the continuous development of micro control system and the integration of automatic control,computer simulation,intelligent algorithms and other related technologies,four rotor unmanned aerial vehicle is widely used in civil life,military activities and related scientific research tasks.Due to the increasing complexity of flight conditions and missions,single aircraft can not meet the actual needs.Cooperative operation between UAVs has become a hot research direction of UAV.This paper mainly studied the Collaboration between two UAVs and researched coordinated flight formation and flight control strategy.In this paper,the research background and development status of cooperative operation of four rotor unmanned aerial vehicle were briefly introduced and the four rotorcraft cooperative operation platform was built.The cooperative flight mode and dynamics model of four rotor UAV formation were briefly introduced.Considering the research topic of this paper is cooperative operation research of four rotor unmanned aerial vehicle,by introducing and discussing the Cooperative formation of UAVs and the cooperative flight efficiency of UAVs,the "leader-follower" was chosen as a way of formation flying mode and the paper derived the mathematical model of dual flight formation,established cooperative relations in the location and space.Secondly,the flying environment of UAVs influences their flight efficiency and safety.Therefore,UAVs need to select a safe and feasible flight path in complex environment.This paper introduced several common environment description methods and selected the ant colony algorithm as path planning algorithm and achieved good result by using Matlab/Simulink to simulate path planning.Cooperative control method plays an important role in Coordinated flight,this paper started with cooperative control algorithm,we first introduced a dual cooperative control method based on fuzzy control and used the fuzzy rules to adjust the distance between two UAVs.Secondly,this paper proposed a Human-simulated Intelligent Controller based on particle swarm optimization algorithm,Human-simulated Intelligent Control can select corresponding control strategies on the basis of the object feature value,due to parameters of Human-simulated Intelligent Control cannot achieve self-adjustment,particle swarm algorithm was used to realize the online setting,finally the good control results were achieved.