Design Of Multi-Agent Test-Bed For Small Scale Quadrotors

The Unmanned Aerial Vehicles coordination is popular in domains of distributed artificial intelligence,Which can be applied in many areas.The main study of Multi-Agent focus on:The strategies of autonomous task allocation and prosecution in dynamic environment, The optimization of the state prediction for collision detection, and Ad-Hoc network.In Multi-Agent research,The proposed theories and methods are usually verified by software simulation,Lack of Performance-Tests under the actual system. According to the above problem,This paper design an Multi-Agent test-bed for Small Scale Quadrotors base on integrated application of existing research results,to provide the physical test environment for algorithm research.The Multi-Agent test-bed are composed of small scale quadrotors, collaboration system and a remote server. The inertial measurement unit of quadrotors is base on Micro Electro Mechanical Systems,which can figure out the attitude of the vehicle by using a direction cosine matrix (DCM). The task collaboration system include a hardware platform which is runing the embedded Linux system and the custom software base on Linux system, To responsible for completing task scheduling, Ad-hoc network routing maintenance, and other functions. The remote server is primarily designed for convenient observation and experiment data record, made by three modules:the task manager, the real-time status display, and the communication interface.In the end of the paper, functional verification are takeing on the Multi-Agent test-bed. First, the static test and tracking test of inertial measurement unit is processing. Then, the performance test of routing protocol in packet delivery rate, end-to-end delay and routing load is processing to verify the network performance. Finally is the whole platform for spacecraft formation flying experiment...