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Unmanned aerial vehicle and ground robot coordinated formation realization method and system

A technology of robots and unmanned aerial vehicles, applied in general control systems, control/adjustment systems, instruments, etc., to achieve the effects of avoiding financial investment, improving stability and reliability, and high practical value

Active Publication Date: 2018-01-16
TIANJIN UNIV
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Problems solved by technology

[0006] At present, there are few relevant research results on the cooperative formation of UAVs and ground robots, most of which are based on the ideal robot simulation platform for algorithm research, and most of the communication between UAVs and ground robots and the communication between heterogeneous robots idealized

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  • Unmanned aerial vehicle and ground robot coordinated formation realization method and system
  • Unmanned aerial vehicle and ground robot coordinated formation realization method and system
  • Unmanned aerial vehicle and ground robot coordinated formation realization method and system

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Embodiment Construction

[0050] The invention relates to the field of cooperative formation of unmanned aerial vehicles and ground robots, the field of wireless data transmission communication, and the field of embedded development technology. A hardware platform is provided for the writing of the air-ground cooperative formation algorithm.

[0051] Aiming at the problems existing in the prior art, the present invention aims to provide a system with good scalability, strong stability, and the ability to support the cooperative formation of UAVs and ground robot platforms, so that researchers can use the system to conduct air-ground collaborative formations. The algorithm is verified by physical simulation and experiment. On this basis, the present invention proposes a UAV and ground robot cooperative formation control algorithm based on potential field function, which can realize the air-ground cooperative formation of UAV and ground robot. The invention is beneficial to repeated parameter correction...

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Abstract

The invention relates to the field of unmanned aerial vehicle (UAV) and ground robot coordinated formation, and provides a system which has good scalability and strong stability and can support UAV and ground robot platform coordinated formation so researchers can conduct physical simulation and experimental verification on an air-ground coordinated formation algorithm through the system. The technical scheme is as follows: a UAV and ground robot coordinated formation system is composed of a UAV formation, an indoor positioning system, ground mobile robots, and a ground work station; the UAV formation includes multiple four-rotor UAVs of different models, and each UAV is equipped with an airborne controller, a sensor device and a Wi-Fi module; and the airborne controllers run a flight control algorithm in real time and are responsible for coordinating and commanding all behaviors of the UAVs, and the attitude information of the UAVs is acquired by the sensor devices. The system is mainly applied to the occasion of UAV and ground robot coordinated formation.

Description

technical field [0001] The present invention relates to the field of coordinated formation of unmanned aerial vehicles and ground robots, the field of wireless data transmission and communication, and the field of embedded development technology. Specifically, it relates to a coordinated formation system of unmanned aerial vehicles and ground robots. Background technique [0002] Another topic that has been accompanied by hot topics such as the Internet, big data, and cloud computing in recent years is robots. With the emergence of various intelligent hardware and software products, the realization of high-performance robots has become possible. The development of robots has gone through nearly 60 years. The functions of robots have ranged from simple to complex. With the gradual improvement of hardware configuration, robots can gradually serve more industries and more people, from ground mobile robots to underwater and aerial robots. , from simple mobility such as wheeled ...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10G05D1/02G05D1/00G05B17/02
Inventor 宗群陈扬董琦刘朋浩王永镇
Owner TIANJIN UNIV
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