Development Of Closed-loop Control System For Field Flight Of Birds Integrating Position And Attitude Information

Birds are of great value in the research of animal robots because of their excellent three-dimensional motion ability.At present,most bird robot control experiments using integrated telemetry and remote control system are based on GPS trajectory.However,GPS trajectory is an indirect way to observe the flight status of birds,and attitude information is a direct reflection of the flight status of birds.Therefore,the system that integrates the data of position and attitude sensors can have a more accurate understanding of the flight motion state of birds,and the application of this system in closed-loop control experiment can improve the reliability and accuracy of closed-loop control strategy.Therefore,this paper developed a closed-loop control system for bird field flight integrating position and attitude information.The system can collect and store positioning information,attitude information and stimulus-related information,and generate micro-current stimulation with adjustable parameters.In addition,the system can embed closed-loop control strategy,and conduct stimulation control research or closed-loop control experiment by using multi-sensor data fusion.The main work of this paper is as follows:(1)Firstly,the requirements analysis of the closed-loop regulation system for field flight of birds integrating position and attitude information is carried out,and the overall framework of the system is summarized.Each function module of the system is considered comprehensively,and the design scheme is given from hardware and program respectively.(2)Completed the development of closed-loop control system for field flight of birds integrating position and attitude information.First of all,the hardware of the system is realized.The total weight of the system is 12.08g(including 200mAh lithium battery),and the size is 33mm×23mm×14mm.The hardware design goal of miniaturization,lightweight and wearable is realized.Secondly,according to the system requirements and program design scheme,the completion of the system program implementation,and the function of each module of the system was tested,to meet the requirements of the system design.(3)Taking pigeons as the experimental object,the closed-loop control task experiment to reach the specified target area is designed.In the experiment,the combined navigation algorithm of position information and attitude information is used for data fusion to calculate the movement position and the deviation between the movement direction and the target direction of pigeons,and different micro-current stimulation is applied to the relevant brain regions of pigeons according to the deviation of the movement direction,so as to control the pigeon robot to reach the target region.Thus,a closed-loop control algorithm for field flight of birds is formed by integrating position and attitude information.(4)The orthogonal experiment of stimulus parameters was carried out to explore the relationship between posture Angle deviation and stimulus parameters before and after the stimulus.Using the results of the attitude yaw Angle before and after the stimulus as the orthogonal experiment output observation index,the effect relationship between the stimulus parameters and the attitude yaw Angle was found,and the stimulus regulation strategy was obtained by changing the amplitude of the stimulus parameters according to the motion direction deviation Angle.Finally,the closed-loop control experiment of field flight to reach the target area was carried out by using this system,and the pigeons were controlled to reach the target point,which verified the effectiveness of the system function.