| With the continuous development of quadrotor UAV technology,the application of UAV collaborative control and cluster technology in civil performance and military fields has become increasingly prominent.Intelligentization of drone group control is one of the important development directions of future intelligent robotics.Aiming at the problem of airborne autonomous coordination of the quadrotor UAV group,the overall control framework of the hybrid distributed control group was determined,and layered processing was performed to reduce the pressure of flight data processing.In the UAV space layout,a double-H configuration is proposed,which improves the space occupation and path interference of the quadrotor UAV group.A cluster control system including an ARM control board,a wireless communication module,and a quadrotor UAV group was built.The key to the research of this collaborative control system lies in the design and improvement of stand-alone systems,inter-machine communication and cluster planning algorithms.In this thesis,by analyzing the existing open source flight control control methods,the sensor filtering and attitude settlement parts are improved,and the original PID control part is improved and upgraded by using an original three-stage fuzzy PID and other algorithms.Human-machine system response speed and control accuracy;for the inter-machine communication system,the host computer,the ARM control board and the wireless communication module are connected in series to build the cluster control center,and the three transmit the protocol information through a wired connection,of which the ARM control The board is responsible for collecting the fleet position and speed data received by the wireless communication module in real time,combined with the information collected by external sensors,running the embedded fleet planning algorithm,and sending the calculated waypoint information of each quadrotor drone to the corresponding From the aircraft,complete the path planning control of the quad-rotor drone group.Considering the response speed of the fleet and the actual environment change requirements,the artificial-potential field method is used for the cluster planning algorithm on the ARM control board.Machine as its own obstacle point,and innovatively propose a feedforward control method to solve the artificial potential field method The existence of local optima and oscillation problems,the results show that UAVs group can smooth line around obstacles,and can be a short path to reach the target point,more problems cluster collision and stagnation does not occur.Based on the design of the single-rotor system of the four-rotor UAV and the communication between the aircraft,this paper designs,improves and tests the path planning algorithm of the aircraft group,and verifies the feasibility of the autonomous control decision-making system of the four-rotor UAV group.It has certain reference value for the design of UAV group intelligent control system with similar collaborative design and group flight function requirements. |
