基于仿射变换的微型无人机编队飞行控制技术  

Affine Formation Control Technique for Miniature UAVs

作　　者：杨庆凯 潘云龙 周勃 刘虹 方浩[1] YANG Qing-Kai;PAN Yun-Long;ZHOU Bo;LIU Hong;FANG Hao(School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《指挥与控制学报》2020年第2期179-183,共5页Journal of Command and Control

基　　金：国家自然科学基金(61720106011,61903035,61873033);北京理工大学青年教师学术启动计划,鹏城实验室资助。

摘　　要：针对无人机编队飞行中只有少量无人机能够获取到期望队形信息的问题,在无人机装配不同传感器的情形下,应用了一种基于仿射变换的微型无人机编队飞行控制算法.在平面内,该算法通过控制3个无人机的几何形状和大小,就可以使得整个无人机编队形成期望的编队队形.给出了一套完整的基于Crazyflie 2.0微型无人机的实物验证平台搭建方法,并通过实例说明了该算法的有效性.This paper studies the problem of formation control for a group of UAVs,where only a small number of them are informed of the desired formation parameters.Under the circumstance that the informed agents have different sensing capabilities,an affine transformation-based formation control method is used to achieve the prescribed formation.In the plane,three UAVs can control the geometric shape and the size of the overall formation,which improves the feasibility of the algorithm.The whole framework of the experimental platform is proposed,on which the experiments are conducted to verify the effectiveness of the approach.

关 键 词：编队控制 微型无人机 仿射变换 控制技术 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1