| In the uninterrupted development of unmanned aerial vehicle technology today,unmanned aerial vehicles(UAVs)are not only used in the military but also have broad application prospects in the civilian field.For example,agricultural spraying pesticides,unmanned aircraft search and rescue,geographic mapping,etc.Due to its simple structure,the quadrotor is capable of air suspension,vertical take-off,etc.It is gradually becoming the most popular unmanned aerial vehicle.However,a quadrotor is limited in its ability to perform tasks.Therefore,a multi-machine cooperative control scheme is entering the world.This paper focuses on the study of formation control of four-rotor unmanned aerial vehicles.Firstly,in-depth analysis of the working principle of quadrotors and the use of Newton-Euler method under some reasonable assumptions have resulted in a simplified quadrotor unmanned aircraft dynamics equation.This equation provides direction and ideas for the design of flight controllers.Secondly,in order to avoid the conflict between the quadrotor formations based on the wireless network during information exchange,a formation control strategy for switching long planes is proposed.Based on the information consistency protocol,the formation control law is designed.The control law consists of two parts: one is the tracking of the preset track,and the other is that the formation remains unchanged during the formation flight.The double-integral dynamics system is used to simulate the proposed control law.The simulation results show that even if the communications link fails in the control law,the formation remains unchanged.Finally,after studying the formation control strategy,it is also necessary to consider flying in formation.The first issue is path planning.A new swarm intelligence algorithm-duck swarm optimization algorithm was used to plan the trajectory of the formation.Simulation experiments were performed to verify the effectiveness of the algorithm on path planning. |
PDF Full Text Request