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设计一种小型四旋翼无人机群起飞后自主形成正多边形编队的分布式运动规划方法.在四旋翼无人机的串级控制系统框架下,分布式编队控制器以简化agent模型为基础,同时采用平均一致性算法和有领导一致性算法,共同产生各无人机位置与偏航角的期望轨迹.讨论了达成最终协调目标队形的拓扑条件,并给出一种基于有向Hamilton环的通信拓扑设计方案.最后通过数值仿真验证了所提出算法的有效性.
A small quadruped unmanned aerial vehicle (UAV) is designed to form a distributed motion planning method of autonomous formation of regular polygon formations.At the framework of cascade control of quadrotor UAV, distributed formation control is based on simplified agent model, meanwhile, The average consistency algorithm and the leadership consistency algorithm are used to generate the desired trajectory of each UAV position and yaw angle.Finally, the topological conditions for the formation of the final coordination target formation are discussed and a new scheme based on the directed Hamilton ring Communication topology design scheme.Finally, the effectiveness of the proposed algorithm is verified by numerical simulation.