Design And Implementation Of UAV Intelligent Formation Control System

The development of UAVs provides new ideas for emergency rescue,but the rescue efficiency of single UAV is low,and there are problems such as small coverage,difficulty in obtaining environmental information,high collision damage rate,and difficulty in obtaining target information.In view of the above problems,this thesis focuses on the research on the UAV intelligent formation control system,which aims to realize the formation coverage search of UAVs in the disaster area.The drone also has functions such as drawing environmental maps,avoiding obstacles,and positioning and tracking targets,and each function can be integrated and flexibly switched.The main contributions of this thesis are as follows:(1)Design of UAV formation coverage search control systemTo address the problem of how to cover the mission area quickly and efficiently,this thesis studies the UAV formation coverage search control system.Firstly,based on the derivation of the formula,the UAV can calculate the coverage search route by itself by integrating the constraints of multiple elements.The system then combines real-time map building to guide the flight and the construction of a precise environmental point cloud map at the end of the flight.Finally,the path planning function is incorporated into the search route to improve the UAV’s obstacle avoidance capability in area coverage search and enhance system reliability.The experimental results show that compared with existing UAV rescue systems,the system in this thesis has been improved in terms of the number of functions and effects,and has a better solution to the problem of covering the mission area quickly and efficiently.(2)Design of UAV target positioning tracking control systemIn response to the problem that UAVs have difficulty in obtaining target object information during flight,this thesis studies the UAV target object location tracking control system.Firstly,the system is based on image algorithm technology to locate and track the target object after framing the object.The gimbal control method is optimised and a PID control scheme for the UAV gimbal based on repetitive compensation control is designed,which improves the efficiency of gimbal control by about 33%and provides reliable gimbal control for target tracking.Secondly,a LIDAR and gimbal-based target positioning scheme is designed,which can achieve the function of real-time measurement of the 3D coordinates of the target.Then,a Kalman filter-based UAV cascade PID control system is designed to reduce noise interference and improve the stability and reliability of the tracking flight,in order to address the interference problem of noise factors in real scenarios.Finally,experiments are conducted for the positioning and tracking control system,and the experimental results show that the system functions well,has good effect on target tracking,and can transmit the target object coordinate data visualization data in real time,and has good application prospects.(3)Design and implementation of UAV intelligent formation control systemAiming at the problem that the functions of the UAV system in complex environments are difficult to coordinate,this thesis designs and implements the UAV intelligent formation control system.The system integrates the functions of formation coverage search and positioning tracking,and realizes the state machine transition mode that can be switched flexibly,and designs representative and realistic scene experiments for each function of the system.The experimental results show that the UAV intelligent formation control system designed in this thesis can flexibly switch functions in the face of different scene requirements,and the effect is good,which verifies that the UAV intelligent formation control system designed in this thesis has a good application prospect.