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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2022, Vol. 43 ›› Issue (S1): 726914.doi: 10.7527/S1000-6893.2022.26914

• Swarm Intelligence and Cooperative Control • Previous Articles     Next Articles

Synchronous path formation control of UAV swarm based on robot operating system (ROS)

HU Yangxiu, ZHAO Changchun, JIA Chenglong, QIAN Zhouyuan, HU Tao   

  1. 1. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China
  • Received:2022-01-07 Revised:2022-01-19 Published:2022-03-04
  • Supported by:
    Shanghai Sailing Program (21YF1417900)

Abstract: The problems of current cooperative formation control of UAV swarm is analyzed. A modular software system for swarm UAV cooperative formation which is valuable in modular software structure design, efficient and light-weight communication protocol for the limited bandwidth data chain based on Robot Operating System (ROS). A synchronous path cooperative formation control method is proposed based on the leader-follower mode for a quad rotors UAV swarm test platform. A simulation of five UAVs and a flight test of three UAVs swarm show that the UAV test platform is designed appropriately, and the UAV test platform can be used as an algorithm verification platform for the development of UAV swarm system. The proposed cooperative formation control method is simple, adaptable, and applicable for engineering practice.

Key words: unmanned aerial vehicles (UAV), robot operating system (ROS), leader-follower, synchronous path, cooperative formation

CLC Number: