Path Planning And Control Of Collaborative Search For Quadrotors

This paper takes the eighth generation task of the International Aerial Robotics Competition as the background,and mainly focuses on the problem of collaborative search path planning and control algorithm design.From the perspective of the cooperative path planning of multi-UAV,the STC method and the CAPT method in the cooperative coverage method are improved,and the path planning algorithm is designed based on the improved STC method and the improved CAPT method.From the perspective of the path planning and path tracking control of single-UAV,a position tracking and velocity tracking control algorithm is designed based on the Null-Space method.The main research work of this paper is as follows:First,the dynamic model of the quadrotor is established and the mathematical description of the collaborative search path planning and control problem is given.the frames used for modeling and problem description are defined and the conversion relationship between frames is given;according to the dynamics principle,the dynamic model of the quadrotor is established and simplified;the path planning and control problem is divided into the path planning problem and the path tracking control problem according to the two aspects of multi-UAV and single-UAV,and the mathematical descriptions of these two problems are given.Secondly,the search path planning algorithm based on the cooperative coverage is designed.Considering the shortest time coverage and collision avoidance problems for given area and targets,an area coverage path planning algorithm based on improved STC method as well as a target coverage path planning algorithm based on improved CAPT method are proposed.The effectiveness of these two path planning algorithms is verified by simulations.Then,a path tracking control algorithm based on the Null-Space method is designed.Considering path tracking and obstacle avoidance for unknown moving obstacles,a path tracking control algorithm based on Null-Space method is proposed.The velocity commands of obstacle avoidance and path tracking are combined by Null-Space method to achieve obstacle avoidance and path tracking.The effectiveness of the path tracking control algorithm is verified by simulations.Finally,the collaborative search path planning and control algorithm is implemented and tested through simulations.The simulation results show that the proposed collaborative search path planning and control algorithm is effective.