A Platform Design For Single/Multiple-quadrator And Research On Its Application

We need UAV to substitute people to detect unknown and complex environment that people can’t access. Quadrotor UAVs, as an important branch of UAV family, are more prominent in this area. In this thesis, a multi-quadrotor platform will be designed and implemented based on the application in this area. The platform consists of multiple quadrotors, each quadrotor has strong endurance and load capacity, to facilitate a variety of hardware extensions. Moreover, every quadrotor is equipped a PC system that can perform complex calculations and image processing. It can be remotely controlled and monitored, and can perform a search mission for a specific target. Meanwhile, the platform can achieve basic formation control.The innovation and contribution of this paper are:first, every quadrotor can be remotely controlled and monitored by a smart terminal equipment without considering its platform, and a user-friendly control interface is independently designed; second, it implements formation gradient distributed control based on the triangular structure and single quadrotor target searching; third, it implements a software architecture based on ROS independently that enhances scalability and sustainable development of the system.