Design And Implementation Of Formation Control Of Multi-quadrotor UAV Based On XBee Communication Module

With the rapid development of quadrotor UAV technology,more and more quadrotor UAVs are being applied to civil scenes or military fields.Due to the limited working capacity and efficiency of a single drone,it is difficult to complete some complicated tasks.Multi-UAV cooperation work can improve work efficiency,complete more complex tasks,and have broad application prospects in the detection of unknown environments,network construction in disaster-affected areas,search and rescue of harsh environments,and cargo handling.This thesis designs and implements a distributed autonomous formation method for multi-quadrotor UAV based on wireless Mesh communication network.The main work of the thesis includes:1%Based on the open and scalable application features of the open source flight control solution,three DJI M100s are used to form an experimental platform for multi-quadrotor UAV formation,and develops software with scalability and portability based on ROS.On this basis,a multi-quadrotor UAV communication network based on XBee wireless module was built,and experiments were carried out to verify the stable data communication between multiple UAVs.2?Considering the safety problem during formation flight,the ultrasonic sensor is used for ranging,and the application of artificial potential obstacle avoidance algorithm in UAV flight is studied.The parameters of the algorithm are studied in the simulation experiment.The simulation results verify the feasibility of the obstacle avoidance algorithm.The actual flight experiments verify that the built system can realize the autonomous evasion of obstacles during the flight and complete the flight mission.3?The wireless Mesh communication network was built by XBee 900HP module.The PID controller was used to control the position of the quadrotor UAV.A distributed formation control scheme based on leader-follower strategy was designed to realize the coordinated flight of two slaves.The UAV formation control flight experiment realized the expected formation formation,and verified the effectiveness of the software and hardware system and the multi-machine formation algorithm.