Research On The Design And Control Method Of The Flying Geese System Of The UAV Group

Since twenty-first century,UAV technology has developed rapidly,and has been widely used in military,agriculture,movies,even express delivery and so on.However,in the process of single UAV execution,there are some shortcomings,such as low efficiency,poor reliability and low intelligence.The concept of UAV group flight control emerged as the times require,but the traditional group control technology has some problems,such as being disturbed and out of control easily,excessive communication link load and so on.The increasingly heavy and complex flight tasks put forward higher requirements for the control system performance and communication processing ability of UAV group.Therefore,it is necessary to study the bionic flight characteristics and control methods of UAV fleet in order to draw lessons from the flight experience of organic lives group.This paper takes bionic geese group as an example to carry out related research.On the basis of studying and analyzing the flight control technology of UAV group in various research institutes and universities,this paper designs a control method of UAV group flying based on imitating geese group,which is controlled by the method of host-slave aircraft.On the basis of fully studying and analyzing the flight control technology of UAV group in various research institutes and universities,this paper designs a control method of UAV group flying based on imitating geese group,which is controlled by the method of host-slave aircraft.In order to verify the control method,the hardware and software control systems of the host and slave aircraft in UAV fleet are designed in this paper.The host system adopts the dual-layer control structure of ARM master control system and STM32 micro-control system,running NuttX and Ubuntu operating systems respectively,and carries out filtering and redundancy design of key sensors to ensure the stability and intelligence of single UAV system.This research also improves customization of Mavlink flight control communication protocol and the design of Zigbee wireless networking mode in order to solve the communication link collision problem of UAV fleet,which designs the host route planning of goose-flying and the following stratege of goose-flying slave aircraft,combined with the dynamic route planning of stimulating goose in order to form a complete dynamic planning scheme for UAV fleet.According to the above design ideas,this research has produced several prototypes of Four-rotor UAVs,and tested the sensor data,single-aircraft flight attitude and wirelesscommunication links comprehensively.Finally,it is verified that the formation algorithm designed in this paper can realize the flying control of UAVs in the range of error allowance through the analysis of the experimental results of three Four-rotor UAVs formation,which lays a foundation for the realization of intelligent cooperative flight of UAVs.