Research On Mission Management And Plannning Of Flight For Quadrotor Unmanned Aerial Vehicle

Quadrotor has many characteristics, such as simple structure, inexpensive, suitable for multi-platform and the ability to execution special task, so it has a vast potential for applicaton. When Quadrotor is used for some mission,how to manage and plan for these flight mission effectively become a key problem.This subject encloses the issues of mission management and planning for Quadrotor,based on a small Quadrotor, analyse and study the key elements of mission management and planning system, and designed some parts of the ground station. Firstly, introduce the basic flight principles of Quadrotor and establish its dynamic mathematical model; Secondly,the mission management and planning system was designed hierarchically by the thought of hierarchical, use the theory of Petri Nets to establish the massion management analysis layer of the Quadrotor, the model based on Petri Nets was simulated in the stateflow kit under Matlab/Simulink environment. For the planning layer of the mission management and planning system, introduce and compare the PSO algorithm and QPSO algorithm, then use QPSO algorithm to design the route of the planning layer for mission management and planning system, and some simulation was made under Matlab environment. Finally, the technique of VC++ and Flash animation are applied to the design of the ground station system;Both of simulation results and the actual flight test results show that this flight platform has the ability to perform such as fixed-point hovering, route planning.it is also able to complete a simple mission which is designed in the ground station,and return ground safely.