Design And Realization Of Autonomous Formation Flying Of Large Bionic Flapping-wing Flying Robot

Bionic flapping wing flying robot has the advantages of good aerodynamic performance,high energy utilization,flexible maneuverability,and easy concealment and camouflage.It has broad application prospects in military investigation,environmental monitoring,ecological protection,etc.However,the current flappingwing flying robots do not have high autonomous flying capabilities,and the tasks performed by a single robot are limited.In the future,the autonomous flying capability of a single robot will be improved while group formation flying will be realized.Because the flapping-wing flying robot does not have the ability to fly with full degrees of freedom,and the body fluctuates up and down during the flapping process,it brings huge challenges to relative navigation and control.This paper takes the formation flight of flapping-wing flying robots as the research object,develops autonomous flight control systems and formation flight algorithms,and carries out flight experiments.According to the movement characteristics of the flapping-wing flying robot and its swarm,the kinematics model,the swarm communication topology model and the relative kinematics model of the flapping-wing flying robot are established.The kinematics model of the flapping-wing robot considers the coupling of flapping-wing flying in different directions of motion,and decoupling it,reflecting the three-degreeof-freedom motion law of the center of mass of the flapping-wing robot in space.In order to describe the group communication method,a communication topology model is established based on graph theory,and the stability of several common communication topology structures is analyzed.Furthermore,the relative motion model of flapping-wing flying robots in formation flight is established,and the matrix description method of formation is given,which provides a theoretical basis for the research of autonomous flight control and formation flight algorithm.In response to the rigorous requirements of the flapping-wing flying robot on the size,power consumption,performance and other aspects of the flight control system,an embedded highly integrated flight control system was developed.The hardware is based on STM32 microprocessor and integrates various sensors such as accelerometer,gyroscope,and magnetometer.The software is developed based on the C language.Under the Free RTOS real-time system framework,the hierarchical design of the bottom driver layer,the middle function layer and the upper application layer is completed.The functional layer completes the attitude calculation based on the fusion complementary filtering algorithm,which reduces the attitude calculation deviation caused by the fuselage shaking up and down during flapping wing flight.The application layer has designed three autonomous flight modes: self-stabilized flight,heading maintaining,and circling flight,as well as multi-aircraft communication programs.The formation algorithm of flapping-wing flying robots based on the pilotfollowing method is designed,focusing on the problem of in-plane formation maintenance,and the effect of straight flight and circular trajectory flight in triangle formation is realized,as well as the formation formation transformation effect.Finally,prototype development and integration were carried out,and outdoor flight experiments were carried out to verify the autonomous flight capability and formation flying capability of the flight control system.