Multi-rotor UAV Formation Control Verification

Multi-rotor UAVs will be widely used in both military and civilian fields in the future,and due to the increasing complexity of the mission,research on multi-rotor UAV formation technology is also more important.This paper takes multiple multi-rotor UAVs as research objects,designed the UAV formation software and hardware platform and ground station software system,designed offline single-machine and multi-machine route planning strategies and online dynamic obstacle avoidance strategy,etc,and did the actual flight verification at the end.Firstly,according to the actual use requirements of the multi-rotor UAV formation system,this paper presents the overall architecture of a multi-rotor UAV formation,completes the design of the multi-rotor UAV hardware platform,designed the position information fusion algorithm and the single-track guidance law,and designed the UAV formation ground station with the functions of monitoring and sending formation instructions.Secondly,for the problem of offline route planning for multiple UAVs and based on the Voronoi diagram method,an improved ant colony algorithm based on adaptive heuristic function is designed to complete the single-route planning,on this basis,the idea of hierarchical decomposition is introduced,and the multi-machine offline route planning strategy is designed and verified by simulation.Thirdly,on the basis of offline route planning,for the oriented and non-directional obstacles,the double-step rolling method is used to design the suspension step avoidance strategy and the artificial potential field method for online planning obstacle avoidance strategy,and the effectiveness of the two algorithms is verified by simulation.Finally,the actual test flight verification of the designed multi-rotor UAV formation communication,autonomous takeoff,assembly,formation retention and transformation,dynamic obstacle avoidance and other functions were carried out,the test results show that the communication between the UAVs and the ground stations is stable and reliable,and the required flight missions can be completed.Research results of this paper has important reference value for UAV formation flight verification.