Research Of Path Planning And Trajectory Tracking For Formation UAVs

With the rapid development of UAV(Unmanned Aerial Vehicle)technology,microelectronic technology,navigation and positioning technology,UAV formation flight not only be used in military fields but also in civil fields.Comparing with using a single UAV to perform the task,using different formation to perform different tasks can not only improve the efficiency,but also improve the reliability of the task.As for the problem of path planning,formation maintaining and how to track the planned path for UAV formation are studied in this paper.Firstly,the F450 Quadrotor is taken as an example.Then,the paper analyses the flight principle and characteristics of F450 Quadrotor UAV.Finally,we derive and establishe the dynamic model of F450 Quadrotor UAV by using Newton-Euler method.In terms of path planning and formation control problem for UAV formation.First,the paper regards the UAV as a mass point.Then the paper introduces the classical partial FRAS APF(Artificial Potential Field)and the improved 3D APF is established.On this basis,combining with the constraint dynamics theory,by introducing the Lagrange multiplier the paper constructs the path planning algorithm of UAV formation based on constraint dynamics in 3D virtual force environment.As for the problem of tracking the panned path for UAV formation,the paper combines the panned path curve in Chapter 3 and F450 Quadrotor UAV dynamic model in Chapter 2 constructing the new trajectory tracking algorithm.Firstly,according to the constraint requirements of trajectory tracking,the paper introduces the classical LQR method and proposes the BSP-ANN method,which combines Backsteeping and Sigma-Pi ANN(Artificial Neural Network).Finally,the simulation verification and comparative analysis of the panned path curve are carried out by using different methods.Finally,as for the algorithm proposed in this paper.The paper designs the verification platform based on ARM and UWB for the above algorithms proposed.The construction scheme of the whole platform,system composition and working principle,the platform of flight control system,the ground station and the selection of the devices are given.