UAV Control System Design And Implementation For Air-ground Amphibious

With the continuous development of human technology for drones and unmanned vehicles,human beings are no longer satisfied with a single function of flying in the air or driving on the ground.In addition,there are some problems,such as the short endurance of UAV in the air,the limited ground motion of UAV,and the difficulty of movement in complex scenes.Therefore,the air-ground amphibious UAV introduced in this paper can make up for these shortcomings.The air-ground amphibious UAV can solve the problems of difficult movement of drones and unmanned vehicles in complex environments by switching between air flight and ground driving.This article uses the STM32F405RGT6 high-speed processing chip as the system control processor in the amphibious UAV system,which is used to realize the driving of the UAV ground driving and air flight,the switch between the ground and air modes.The system uses a multi-sensor data fusion algorithm and is compatible for use in two different modes.In addition,the mode can switch automatically to improve the defect problem brought by the obstacle avoidance algorithm.The main research contents of this article are as follows:1.According to the theoretical research on the motion control principle of unmanned aerial vehicles and unmanned vehicles,the mathematical model of the system is established.Because the motion model of air-ground amphibious UAV is complex,it needs to be divided into two parts:air and ground to model and analyze.2.Through the selection analysis and comparison of the system hardware,the main control circuit of the system is designed,and the manufacture and test of the main control board PCB are realized,then the overall control process of air-ground amphibious UAV is designed.3.The multi-sensor data fusion algorithm used in this paper can be compatible with two different modes of land and air.After mode switching,the data can adapt to the feedback of the controller in different modes.At the same time,the software flow of motion control under two modes is designed,and the program code is written.4.Based on the data of ultrasonic sensor module,this paper uses the artificial potential field method to realize the obstacle avoidance function of land air amphibious UAV,and solves the local minimum value problem of artificial potential field method through mode independent switching.