Four-rotor unmanned aerial vehicle (UAV) control method and device, equipment and readable medium

Abstract

The invention discloses a four-rotor UAV control method and device, a storage medium and computer equipment. The method comprises that target plan information, including an expected pose parameter andan expected control parameter, corresponding to a four-rotor UAV is obtained; pose information and control information of a UAV system in present time are obtained, and the pose information includingposition information and attitude information; the pose information, control information, expected pose parameter and expected control parameter serve as input of a model prediction controller, and aposition control value and an attitude control value output by the model prediction controller are obtained; and the four-rotor UAV is controlled via the position control value and the attitude control value. Thus, path tracking control of the four-rotor UAV is more accurate.

Description

technical field [0001] The present invention relates to the field of unmanned aerial vehicle technology and the field of computer technology, and in particular to a control method and device for a quadrotor unmanned aerial vehicle, unmanned aerial vehicle equipment, and a computer-readable medium. Background technique [0002] With the development of computer technology, a new round of artificial intelligence revolution has been driven, and the intelligentization of drones has become a trend. Among them, the quadrotor UAV refers to a small aircraft that is controlled by a wireless remote control device or a self-contained program control device, or is completely or intermittently operated autonomously by an onboard processing unit. At present, due to its unique structure and dynamic characteristics, this small UAV has a wide range of applications, especially in photogrammetry, forest fire prevention, emergency rescue, emergency security, agricultural prevention and control, ...

AI Technical Summary

Problems solved by technology

[0004] However, in the current UAV flight path control scheme, due to the complexity of the dynamic model of the quadrotor UAV, the uncertainty of model parameters and the inaccuracy of modeling, the UAV flight path There are certain deficiencies in the reliability and accuracy of the control system. During the execution of the actual task, there is a large error between the flight path of the UAV and the original design reference path, and the pre-designed task cannot be achieved. Effect

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