基于ROS的集群无人机同步路径编队控制

doi:10.7527/S1000-6893.2022.26914

Abstract

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:

V279

HU Yangxiu, ZHAO Changchun, JIA Chenglong, QIAN Zhouyuan, HU Tao. Synchronous path formation control of UAV swarm based on robot operating system (ROS)[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726914-726914.

References

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

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