Trajectory controlled indoor four-rotor unmanned aerial vehicle formation demonstration verification platform and method

Abstract

The invention relates to the fields of unmanned aerial vehicles, embedded technologies and Wi-Fi wireless data transmission and aims to break through the poor capacity of responding to communication time and packet loss of a traditional demonstration verification platform, perform formation trajectory planning in real time according to the flight state of unmanned aerial vehicles and improve the formed flight demonstration effect of four-rotor unmanned aerial vehicles. Therefore, the adopted technical scheme is that a trajectory controlled indoor four-rotor unmanned aerial vehicle formation demonstration verification platform consists of an unmanned aerial vehicle side, a ground-based computer side and an indoor action capture system, combines with a distributed formation structure, obtains coming unmanned aerial vehicle flight trajectories and flight states through a wireless network, gives consideration to dynamical models of four-rotor unmanned aerial vehicles in an actual flight environment, designs a four-rotor unmanned aerial vehicle real-time trajectory planning method based on a differential flatness theory, cooperates with the indoor action capture system to achieve formedflight demonstration verification of multiple indoor four-rotor unmanned aerial vehicles. The platform is mainly applied to unmanned aerial vehicle control demonstration occasions.

Description

technical field [0001] The present invention relates to the field of unmanned aerial vehicles, the field of embedded technology, and the field of Wi-Fi wireless data transmission, and in particular to the field of intelligent control of UAV formations based on trajectory control. Specifically, it is a control method based on trajectory tracking, Multi-UAV system simulation and algorithm verification platform for Pixhawk flight control, Wi-Fi wireless network and Optitrack indoor motion capture system. Background technique [0002] Multi-UAV formation technology has been widely used in various practical tasks, such as search and rescue, inspection and automation industry. In these scenarios, multiple UAVs may need to form a specific formation to perform tasks, such as carrying different equipment to perform reconnaissance and surveillance, ground attack, electronic jamming, communication relay, target positioning, and effective attack damage. assessment tasks. Multi-UAV for...

AI Technical Summary

Problems solved by technology

However, the shortcomings of this type of platform are mainly reflected in the following aspects: (1) When the method based on sending the desired waypoint realizes the scene of the rapid flight of the UAV, a high communication bandwidth is usually required to maintain the desired waypoint. Refresh frequency, communication time lag, and packet loss will seriously affect the flight effect of the UAV; (2) The dynamic characteristics of the UAV itself are not considered in the process of offline path point planning, which limits the UAV's extreme flight capability. It cannot ensure that the UAV can obtain the optimal flight trajectory; (3) The control method based on sending expected way points cannot obtain accurate analytical solutions when obtaining multi-dimensional expected motion states, which brings difficulties to the design of the controller and is difficult to achieve. High-precision tracking of flight paths; (4) Most of the trajectory planning methods based on waypoints are offline path planning methods, which cannot change the UAV trajectory planning strategy in real time according to the dynamic map information

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