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Design And Implementation Of Vision Based Formation System For Quadrotor

Posted on:2021-02-04Degree:MasterType:Thesis
Country:ChinaCandidate:Z W SongFull Text:PDF
GTID:2392330623467890Subject:Control Science and Engineering
Abstract/Summary:PDF Full Text Request
With the rapid development of information technology,intelligent robots are more and more common in people's life,especially the micro quadrotor is widely used in mapping,fire fighting,plant protection,aerial photography and monitoring.Various research institutions also study the application and performance improvement of quadrotor.Due to its small load and short endurance,a single quadrotor can not complete some tasks.In order to solve this problem,it is necessary to study the cooperative formation of multiple UAVs.Based on the research of formation control system of quadrotor,this paper designs and implements a vision based formation control system of quadrotors,and completes the construction of hardware system and the development of software system,and verifies the stability and reliability of the system through various experiments.The main work and contribution of this paper are as follows:(1)According to the actual demand,the software and hardware design of the overall scheme of the formation control system of the quadrotor is carried out,and the appropriate camera,onboard computer,UAV power system components,UAV body and other platforms are selected to build the scheme platform.The kinematics model of the quadrotor is analyzed,and the flight control system software is designed to control the attitude and position of the quadrotor.Through the realization of flight control software,the quadrotor can complete the platform control requirements.(2)The multi quadrotors positioning system is designed.By improving the SVO visual odometer,each UAV can obtain its own position through a downward camera,and the UAV in the formation gets global position coordinate system through the ground label,so that all UAV position information is in the same coordinate system.By using visual sensor to obtain the UAV position and attitude information,the formation control system can complete the formation control task indoors and outdoors.The formation control equations is designed.The formation control equations adopts the consistency control algorithm to control the formation create,formation transformation and formation following of the UAV.In the formation process,the artificial repulsion field is designed to ensure the safety of the distance between each UAV,and no internal collision occurs in the formation process.The distributed formation control architecture is adopted to effectively improve the robustness of formation system and improve the reliability of formation system to complete tasks.(3)Matlab simulation,gazebo simulation,single quadrotor flight experiment and multi quadrotors formation flight experiment are carried out for the designed formation control system.The formation control system can complete formation create,formation transformation and formation following tasks,and the stability of the platform system design is proved through the experiment,which lays the foundation for the subsequent research of formation control system.
Keywords/Search Tags:Quadrotor, Visual localization, Distributed formation, Consistency control, Artificial repulsion field
PDF Full Text Request
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