• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Robotics, IEEE Transactions on >A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs
【24h】

A Distributed Control Approach to Formation Balancing and Maneuvering of Multiple Multirotor UAVs

机译：一种多旋翼无人机编队平衡与机动的分布式控制方法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In this paper, we propose and experimentally verify a distributed formation control algorithm for a group of multirotor unmanned aerial vehicles (UAVs). The algorithm brings the whole group of UAVs simultaneously to a prescribed submanifold that determines the formation shape in an asymptotically stable fashion in two- and three-dimensional environments. The complete distributed control framework is implemented with the combination of a fast model predictive control method executed at 50 Hz on low-power computers onboard multirotor UAVs and validated via a series of hardware-in-the-loop simulations and real-robot experiments. The experiments are configured to study the control performance in various formation cases of arbitrary time-varying (e.g., expanding, shrinking, or moving) shapes. In the actual experiments, up to four multirotors have been implemented to form arbitrary triangular, rectangular, and circular shapes drawn by the operator via a human-robot interaction device. We also carry out hardware-in-the-loop simulations using up to six onboard computers to achieve spherical formations and a formation moving through obstacles.
机译：在本文中，我们提出并通过实验验证了一组多旋翼无人机的分布式编队控制算法。该算法将整个无人机同时带到规定的子流形，该子流形在二维和三维环境中以渐近稳定的方式确定地层形状。完整的分布式控制框架是通过在多旋翼无人机上在低功率计算机上以50 Hz执行的快速模型预测控制方法的组合来实现的，并通过一系列硬件在环仿真和实际机器人实验进行了验证。实验被配置为研究在任意时变（例如，扩展，收缩或移动）形状的各种形成情况下的控制性能。在实际实验中，多达四个多转子已经实现，以形成由操作员通过人机交互设备绘制的任意三角形，矩形和圆形形状。我们还使用多达六台车载计算机进行了硬件在环仿真，以实现球形编队和穿越障碍物的编队。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号