Design Of Cluster Flight Monitoring And Control System For Robot-pigeon

With excellent flying ability,strong environmental adaptation and group coordination,pigeons have received widespread attention as the research objects for robot-animal,which have broad application prospects in detection,search and rescue,and monitoring.At present,the research on the control of robot-pigeon is mainly around the single pigeon,and the control of pigeon cluster flight is still in its infancy.However,single robot-pigeon carries a limited number of sensors,it is inferior to the group in terms of detection,positioning and perception.In this thesis,based on the characteristics that the slave pigeons with low pilot level will follow the master pigeon with the highest pilot level in the clusters,a control strategy of the pigeon cluster flight is designed in combination with the neural control technology,and a remote monitoring and control system for robot-pigeon cluster flight is developed.This system consists of pigeons carrying device and background service software,which realizes the real-time monitoring and control of the flight path of the pigeon clusters.The main contents of this thesis are as follows:(1)The control strategy of the pigeon cluster flight is designed.The pigeon clusters internal communication through the Lo Ra ad hoc network to realize the realtime transmission of GPS positioning information between the master and slave pigeons.The method of trajectory deviation feedback is used to control the slave pigeon,so that it can fly within 200 meters around the master pigeon.Based on the GPRS wireless network,the operator can remotely control the flight path of the master pigeon,and the master pigeon device uploads the location information of the pigeon clusters to the server software in real time,so that the flight trajectory can be displayed on the map interface to monitor the flight status of the pigeon clusters.(2)The pigeon carrying device is successfully completed,namely,the master pigeon device(MPD)and the slave pigeon device(SPD),which can realize the functions of information collection,information transmission,and micro-current stimulation.Completed the circuit design of the central processing unit,the GPRS communication unit,the Lo Ra communication unit,the current stimulation unit,and the GPS positioning unit;compiled of the control program of each unit;the finished equipment with a weight of 18.1g and a volume of 22.5mm×33.5mm×14mm was produced,and the function debugging was completed.(3)The supporting background service software is developed,including data transfer server software and command configuration software based on C/S architecture,and map display software based on B/S architecture.The server software is a bridge between device and command configuration software,which can receive,forward and store information;The command configuration software is used to configure and send stimulus parameters to remotely control the flight path of the pigeon;The map display software is used to display the flight trajectory of the pigeon clusters in real time,mark the stimulation location and view the historical trajectory.Finally,flight control experiments were carried out on pigeon clusters.The test results show that the system meets the design requirements,and can realize the realtime monitoring and control of the flight path of the pigeon clusters.