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无人机集群编队控制演示验证系统

朱创创 梁晓龙 张佳强 何吕龙 刘流

朱创创, 梁晓龙, 张佳强, 等 . 无人机集群编队控制演示验证系统[J]. 北京航空航天大学学报, 2018, 44(8): 1739-1747. doi: 10.13700/j.bh.1001-5965.2017.0600
引用本文: 朱创创, 梁晓龙, 张佳强, 等 . 无人机集群编队控制演示验证系统[J]. 北京航空航天大学学报, 2018, 44(8): 1739-1747. doi: 10.13700/j.bh.1001-5965.2017.0600
ZHU Chuangchuang, LIANG Xiaolong, ZHANG Jiaqiang, et al. Demonstration and verification system for UAV swarm formation control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1739-1747. doi: 10.13700/j.bh.1001-5965.2017.0600(in Chinese)
Citation: ZHU Chuangchuang, LIANG Xiaolong, ZHANG Jiaqiang, et al. Demonstration and verification system for UAV swarm formation control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(8): 1739-1747. doi: 10.13700/j.bh.1001-5965.2017.0600(in Chinese)

无人机集群编队控制演示验证系统

doi: 10.13700/j.bh.1001-5965.2017.0600
基金项目: 

国家自然科学基金 61472442

国家自然科学基金 61472443

国家自然科学基金 61703427

陕西省自然科学基金 2016JM6071

陕西省自然科学基金 2017JQ6035

详细信息
    作者简介:

    朱创创  男, 硕士研究生。主要研究方向:航空集群运动控制

    梁晓龙  男,博士,教授,硕士生导师。主要研究方向:航空集群理论与技术、空管智能化

    通讯作者:

    梁晓龙, E-mail: afeu_lxl@sina.com

  • 中图分类号: TP23

Demonstration and verification system for UAV swarm formation control

Funds: 

National Natural Science Foundation of China 61472442

National Natural Science Foundation of China 61472443

National Natural Science Foundation of China 61703427

Natural Science Foundation of Shaanxi Province, China 2016JM6071

Natural Science Foundation of Shaanxi Province, China 2017JQ6035

More Information
  • 摘要:

    为验证无人机集群编队控制算法在实际环境中的有效性,基于四旋翼无人机平台和双数据链、双地面站冗余设计,搭建了分布式控制的无人机集群编队控制演示验证系统。基于分层控制和封装的思想,将无人机控制系统分为执行层和决策层。执行层采用PIX自驾仪进行封装,只需修改自驾仪参数,不需针对不同无人机平台开发相应的控制策略,就能实现对异构集群的控制。需要验证不同的编队控制算法时,只需对决策层的控制算法进行修改即可,使系统具有较强的适应性和扩展性。演示验证系统采用双地面站和数据链,可实现在多种网络拓扑或通信失败情况下的无人机集群控制,具有较高的稳定性和安全性。应用领导-跟随协同编队控制算法,验证了本文演示验证系统的功能和性能。

     

  • 图 1  无人机集群编队控制演示验证系统结构框图

    Figure 1.  Structure diagram of UAV swarm formation control demonstration and verification system

    图 2  无人机控制系统结构框图

    Figure 2.  Structure diagram of UAV control system

    图 3  无人机控制系统软件流程图

    Figure 3.  Software flowchart of UAV control system

    图 4  地面站软件界面

    Figure 4.  Ground station software interface

    图 5  数据链模块

    Figure 5.  Data link module

    图 6  试验系统实物图

    Figure 6.  Photo of test system

    图 7  3架无人机之间通信拓扑图

    Figure 7.  Topological graph of communication among three UAVs

    图 8  试验流程图

    Figure 8.  Test flowchart

    图 9  试验过程中地面视角的3架无人机空中位置

    Figure 9.  Air position of three UAVs from view of ground in test process

    图 10  飞行试验数据曲线

    Figure 10.  Flight test data curves

    表  1  试验参数取值

    Table  1.   Test parameter selection

    参数 取值
    c1 1
    c2 2.5
    a 10
    b 250
    R/m 100
    δ 0.1
    d/m 4.9
    c3 3.0
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-09-25
  • 录用日期:  2017-12-22
  • 刊出日期:  2018-08-20

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