基于OSDK的分布式无人机集群控制系统设计与验证  

A design scheme of the distributed UAV swarm control system based on OSDK

作　　者：董广胜 李大鹏[1] 田峰[1] 丁良辉[2] 杨锦彬 DONG Guangsheng;LI Dapeng;TIAN Feng;DING Lianghui;YANG Jinbin(Shool of Communications and Information Engineering,Nanjing University of Posts and Telecommunications,Nanjing 210003,China;School of Electronic Information and Electrical Engineering,Shanghai Jiaotong University,Shanghai 200240,China)

机构地区：[1]南京邮电大学通信与信息工程学院,江苏南京210003 [2]上海交通大学电子工程系,上海200240

出　　处：《南京邮电大学学报（自然科学版）》2023年第1期44-51,共8页Journal of Nanjing University of Posts and Telecommunications：Natural Science Edition

基　　金：国家自然科学基金(61801240)资助项目。

摘　　要：针对当下无人机集群平台可靠性低、实用性差的问题,提出基于Onboard SDK的分布式无人机集群控制系统(Distributed UAV Swarm Control System, DUSS)设计方案。首先,基于模块化思想,将DUSS分为控制模块、执行模块与监控模块,控制模块与监控模块利用自组网通信方式与ROS分布式通信机制,实现对异构集群的分布式控制,OSDK的使用在降低模块间耦合度的同时实现控制模块与执行模块的交互,其对底层控制逻辑的封装可减少时间成本;其次,在考虑真实物理环境中的惯性因素的基础上对人工势场法进行改进,设计一种一致性联合虚拟势场(CVPF)编队算法,解决目标不可达问题并使用DUSS进行演示;最后,通过试验证明DUSS在保证避碰的前提下可实现编队飞行、队形保持以及队形变换等功能,验证了DUSS作为分布式无人机集群平台的可行性与CVPF算法的稳定性。Given the low reliability and poor practicability of unmanned aerial vehicle(UAV) cluster platforms, a design scheme of the distributed UAV swarm control system(DUSS) is proposed based on the onboard software development kit(SDK). First, DUSS is divided into the control module, the implementation module and the monitoring module. The control module and the monitoring module control the heterogeneous clusters in a distributed way by the Ad Hoc network communication mode and the robot operating system(ROS) distributed communication mechanism. OSDK can reduce the coupling degree between modules, and enable the interaction between the control module and the execution module. Thus, the time cost is reduced through encapsulation of the underlying control logic. Second, the artificial potential field method is improved based on the inertial factors in the real physical environment, and a consistent virtual potential field(CVPF) formation algorithm is designed to tackle the inaccessibility of targets and DUSS is deployed to display it. Finally, the experiment demonstrates that DUSS can ensure formation flying, formation keeping, formation transformation and other functions while ensuring collision avoidance. It verifies the feasibility of DUSS as a distributed UAV cluster platform and the stability of the CVPF algorithm.

关 键 词：无人机集群编队 OSDK 分布式控制 速度一致性 位置一致性 

分 类 号：TN929.52[电子电信—通信与信息系统]