基于VICON的无人机编队分布式控制

Distributed Control of UAVs Formation Based on VICON

摘要: 无人机编队执行任务相比单架无人机有着成功率高和任务量大的优点，编队飞行控制器的设计和编队通信方式是自主编队飞行的关键。本文针对无人机自主编队飞行的控制及通信问题，在室内动作捕捉系统VICON环境下，设计了编队轨迹跟踪以及队形保持控制器实现无人机编队巡航；采用基于代数图论和智能决策的方法，每架无人机都拥有判断自身编队层次的能力，即使有无人机出现故障，也能通过将编队信息流再次连通实现编队重构。同时利用模块化的通信设备，方便了通信程序的修改。编队飞行实验结果验证了本文提出方法的有效性。

Abstract: Comparing with single unmanned aerial vehicle (UAV), the UAVs formation has many advantages, such as high success rate and multi-task. The design of controller and the formation communication mode of UAVs are the key techniques to autonomous formation flight. This paper focuses on the control and communication of autonomous formation flying for UAVs. Under the environment of the indoor action capture system, which is made in VICON UK so it is called VICON system, the formation trajectory tracking and formation keeping controller are designed to realize the UAVs formation cruising. By using algebraic graph theory and intelligent decision-making method, each UAV has the ability to judge the self-position and formation information. Moreover, if there is a malfunction of the UAV, it can also reconnect formation information to realize the formation reconfiguration. At the same time, using modular communication module, it is convenient to modify communication program. The results of the formation flight experiment verify the effectiveness of the method in this paper.