Research On Multi-fighter Cooperation System For Quadrotors

With the development of control science and new information technology,quadrotor once again gets into the public view, and plays an important role in anti-terrorism security, electric inspection, disaster rescue, photography, and other fields.Benefit from the rapid development of the intelligent control theory, technology of computer, microelectronics technology and other fields, many universities, research institutes and technology companies pay great attention to the related research of quadrotor. The related technology of quadrotor is booming. However, the current research of quadrotor in our country still in its infancy, it is difficult to fulfil a complex task smoothly and stably. There are bottlenecks should be broken in many research,such as multi-fighter cooperation, formation flight, complex environment detection and others.This paper achieves a study focusing on multi-fighter cooperation for quadrotors,which describes the related principle and characteristics of quadrotors, introduces some emerging technology related to quadrotors, and designs the control principle of flight motion. Moreover, this paper designs the function of multi-fighter cooperation for quadrotors, which provides a theoretical basis and guides the researches of multi-fighter cooperation and formation flight.The most important part of controller for quadrotor is attitude controller. The cascade PID controller is used on the angle of pitch, roll and yaw. The controller updates and controls the angle data of pitch, roll and yaw in real-time. Combined with sensors of height, this paper designs the controller of height. With the controller of attitude and height, this paper realize the flying function of the quadrotor.The design of multi-fighter cooperation system for quadrotors mainly includes two parts, the structure of multi-fighter cooperation and the controller of formation flight.The realization of the above two parts are in a PC machine which has high processing ability and large memory. The structure of multi-fighter cooperation is mainly based on the centralized architecture, monitoring each quadrotor in real-time with the PC,accessing the current flight data, and assigning tasks to every quadrotor in real-time with the formation flight control algorithms. The controller of formation flight is based on lead-wingman strategy. According to the expected task formation and the position of leader, controller assigns the virtual position for each wingman to achieve. Using the algorithm of the artificial potential field, the controller can formulate the path for each quadrotor, and realize obstacle avoidance, target tracking and formation flight for quadrotors.Finally, referencing the theory of "bottom to top", this paper designs a lot of experiments base on multi-fighter cooperation for quadrotors, including the flight performance test, the algorithm validation, and the formation flight test. The experiments verify the feasibility and stability of the system and give reference for the follow-up researches on the multi-fighter cooperation.