多无人机编队控制及TIC_Ad_Hoc通信控制技术的研究  

Research on the Technology of Multi UAV Formation Control and TLC_Ad_Hoc Communication Control

作　　者：刘伯伟 宋路[1] 

机构地区：[1]长春理工大学,吉林长春130012

出　　处：《自动化技术与应用》2018年第2期22-24,55,共4页Techniques of Automation and Applications

摘　　要：本文研究了无人机编队和多四轴飞行器彼此之间的通信问题。提出了采用直线和圆结合的思想控制多四旋翼的编队队形;针对多无人机系统彼此之间实时通信本文提出一种改进的时间片轮转移动自组织网络(TIC_AD_Hoc网络),避免单个无人机任意飞行导致Ad_Hoc网络拓扑的动态变化而降低了网络的稳定性,解决了多个无人机同时发送数据产生碰撞导致丢包的问题。通过多无人机系统通信实时数据传输实验验证了TIC_AD_Hoc网络有效性。This paper studies the communication problems between UAV formation and multi-four-axis aircraft, and puts forward the idea of combining linear and circular control of four rotor formation; and proposes an improved time-slice, round-shift, self-organizing network （TIC AD Hoc network） for real-time communication between multiple UAV systems, it avoids dynamic change of Ad_Hoc network topology caused by any unmanned aerial vehicle flight in which the stability of the network is reduced. UAVs simultaneously send data to generate collisions that cause packet loss problems. The validity of TIC AD Hoc network is verified by real time data transmission experiment of multi-UAV system communication. It solves the packet loss problem caused by the collision when plurality of UAVs simultaneously send data. The effectiveness of TIC_AD_Hoc network is verified by experiments on real-time transmission of data in multi-UAV systems.

关 键 词：时间片轮转 多无人机 协同控制 TIC—AD—Hoc 

分 类 号：TP279[自动化与计算机技术—检测技术与自动化装置]