Design And Implemetaion Of UGV-UAV Cooperative Control System

Robot as a kind of high-level tools that integrated with many advanced technology,has more and more extensive influence on human society.In the industrial field,robots have greatly improved the production efficiency and will continue.In the field of service,robots are rapidly improving people's quality of life.In the military field,the robot will change the form of the future war.Compared with industrial robots,mobile robot is flexible,can execute more complex tasks.A single mobile robot with limited resources,has limited ability to execute the task.Research on multiple mobile robots coordination system for resources complementary,can significantly enhance the system ability to perform a task that is more than the linear sum of multiple mobile robots.Unmanned Ground Vehicle(UGV)can obtain detailed information on the ground environment and perform the task,Unmanned Aerial Vehicle(UAV)can obtain a wide range of 3D space environment information,provide global references for land robot to perform a task.Therefore,research on UGV and UAV cooperative control is of great significance,have a wide range of applications in the search and rescue,investigation,scouts,exploration and other fields.UGV and UAV cooperative control problem belongs to the Heterogeneous multi-agent System(Heterogeneous multi-agent System)research filed.In this paper,the designed UGV is a two wheels electric unmanned vehicle,the UAV is a quarotor.The main work is to design and realize the robot cooperative control system of UGV and UAV,which can be used as platform to verify the heterogeneous multi-agent control algorithm,and realized the formation control based on Leader-Follower method.Firstly,the theory of multi-agent cooperative control is introduced,laying a foundation for the following research.Accurately measuring the system status,correctly modeling the system,properly designing the system controller is the key to design a robot control system.The measurement of system status is the foundation of all work.Therefore,this article introduces the low cost Attitude Heading Reference System(AHRS)in detail,the design and implementation of a simple and highly effective quick calibration method is proposed,a nonlinear complementary filter,which has more extensively applicable scope is tested by experiment.Then,the mathematical model of UGV and UGV is established and the attitude and position controller is designed,respectively.By decomposing the control processes reasonably,the attitude and positon control of UGV is conveniently realized.In the process of establishing the dynamic model of the UAV,the actuator dynamic process and the aerodynamic effect is consided.According to the characteristics of the dynamic of the UAV,a cascade control structure is designed.Using the method of feedback linearization,the PID controller with feedforward control is designed.The actual flight experiment validate the accurate of the established mathematical model and the effectiveness of the designed controller.Finally,the mathematical model of formation movement and the formation control law is designed based on the method of leader-follower.The relative distance of UGV and UAV is directly measured using visual sensor,and then fused with the prediction information by a linear complementary filter.The experiment is executed with the fused information.The results show that the UGV and UAV achieve the desired formation movement,and thus verify the useness of the platform.