Research On Target Seeking By Using Quadrotor Vehicle

In recent years,with the quadrotor load capacity,endurance,safety and flexibility greatly improved,the use of quadrotors equipped with cameras for target seeking or tracking has become a new research hot spot.However,in some applications,such as soccer,racing,cycling and other outdoor sports events,it is often impossible to configure a tracking device for each target.In this case,a quadrotor can be used to track multiple moving targets at the same time.Meanwhile,the importance of each goal in practical application is different.For example,the quadrotor performing the tracking task in a sporting event should be appropriately moved closer to the star athlete.This requires optimization of the tracking path of the quadrotor.In order to achieve the above functions,a new algorithm based on k-means clustering algorithm and weighted multi-target gravity center tracking is proposed in this article,which can control the quadrotor to recognize multiple targets and assign different weights to different targets according to the target characteristic information.Then the tracking path can be obtained according to the position and weight of each target,and the quadrotor is controlled along the path for multi-target tracking.However,in some cases,such as space exploration,rescue in harsh environment search,due to the limitation of single-quadrotor's own functions,it is difficult to meet the needs of complex mission applications.Usually,more than one quadrotor is used to accomplish the task.Multi-quadrotor cooperative control has become a very important research direction of UAV research.Therefore,in this article,a multi-quadrotor collaborative hardware experiment platform is built using Odroid/Intel NUC airborne computers and DJI M100 flight controller.Based on this,a wireless Mesh network with multi-quadrotor communication is set up,which enables multi-quadrotor to obtain the information of the neighboring quadrotor via data communication.The layered software design system based on ROS is completed and the distributed delta formation of multi-quadrotor system is realized.In the end,two kinds of multi-quadrotor collaborative target search algorithms are proposed.one is multi-target search based on scaled triangular formation and the other is sub-regional collaborative search based on information fusion.The former is a traversal fixed-path search algorithm,the latter is based on dynamic path optimization search algorithm.This article gives a detailed theoretical analysis and simulation results.The contributions of this article lie in the following four points:Firstly,a new algorithm based on k-means clustering algorithm and weighted multi-target gravity center tracking is proposed.The algorithm is based on a single quadrotor to achieve multi-objective search and dynamic tracking;Secondly,a multi-quadrotor formation hardware platform based on socket communication was built.Meanwhile a cross-platform software system with high scalability and high portability based on ROS was completed;Thirdly,this article proposes a multi-quadrotor joint target search algorithm based on zoom-type delta formation,which combines the multi-quadrotor formation with target search,and the feasibility of the algorithm is verified by simulation;Fourthly,A multi-quadrotor sub-region search algorithm is proposed,which is based on information fusion and target search under collaborative control.This article gives theoretical analysis and simulation results.