Research Of Flight Control Based On Quadrotors Collaborative

Multi-rotor aircraft can hover in the air,with a high degree of freedom of mobility,and it also can flew to even through bypass the target object,and with good covert capabilities and information transfer capability.Based on these advantages,the study of small or micro multi-rotor aircraft has become a new research focus internationally in recent years.Currently,the research of control technology about the single Multi-rotor aircraft flight has already quite mature.however,due to the limited task completion efficiency for one Multi-rotor aircraft,research institutions have not only satisfied with the operation of one quadrotor,but working on the cooperative control of Multi-rotor aircraft groups,Multi-rotor aircraft groups can carry different equipments to collaborate on a task which quadrotor can not accomplish.The thesis of research is collaborative in flight control technology for quadrotors.It introduces the research background and significance of groups of quadrotors,and gives a brief overview the research about collaborative of groups of quadrotors at home and abroad.The model of cooperative control for groups in this paper is based on the pigeons behavior,so the paper introducts the pigeons behavior with a brief,group behavior is multi-agent category and we reference the collaborative control methods widely used in groups,the paper imitating the groups behavior of pigeons to constraint groups' flight collaborative behavioral of quadrotors,including pigeon groups system rules on decision-making mechanisms and principles of constructing.In this paper,cooperative control algorithm for pigeon groups control strategy coordinated has given in detail.In order to verify the effectiveness of decision-making mechanisms of pigeon groups,control test platform for collaborative groups has been set up in the laboratory,including design of hardware and software of quadrotor and a ground station.The premise of collaborative requires planning track,however,this study focuses on cooperative control strategy of groups,then for path planning of groups did not do in-depth research,just do a simple constraint,and generate track on ground stations.In this thesis,we have finished the simulations of conventional flying in formation,formation reconstruction and avoidance of formation flight by Matlab,and on the basis of that we have also finished group cooperative of quadrotors in actual experiment,which has initially achieved collaborative groups of quadrotors.The validity of the decision-making mechanism of the pigeon groups is confirmed.