Multi-unmanned aerial vehicle distributed control system, cooperative control method, medium and unmanned aerial vehicle formation

Abstract

The invention discloses a multi-unmanned aerial vehicle distributed control system, a cooperative control method, a medium and an unmanned aerial vehicle formation, and relates to the technical field of unmanned aerial vehicles. A piloting following cooperative controller carried by an airborne computer establishes connection with a piloting unmanned aerial vehicle based on an ROS inter-process publication subscription message transmission mechanism and a Mavos function packet, and communicates with a plurality of following unmanned aerial vehicles; and when a certain following unmanned aerial vehicle breaks down, flight controllers carried by other following unmanned aerial vehicles continue to refer to the flight path specified by the pilot unmanned aerial vehicle and drive the following unmanned aerial vehicle to go to a specified target point to form an expected formation according to expected speed and position instructions. According to the invention, the ROS, the unmanned aerial vehicles, a wireless router and other components and a piloting-following control method are utilized to realize the function of cooperative flight of the multiple unmanned aerial vehicles, so that the task execution efficiency of the multi-unmanned aerial vehicle system can be improved, and the task execution reliability and the flexible expansion of the number of the unmanned aerial vehicles are ensured.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a ROS-based multi-unmanned aerial vehicle distributed control system, a cooperative control method, a program storage medium for receiving user input, and an unmanned aerial vehicle formation. Background technique [0002] At present, UAVs have been widely used in military strike and reconnaissance, power inspection, aerial surveying and mapping, agricultural plant protection and other fields due to their advantages such as small size, low cost, strong mobility, and convenient operation. However, a single UAV has disadvantages such as short battery life, limited load, and low fault tolerance rate in performing tasks, and it is difficult to meet the requirements of performing complex tasks, such as large-scale reconnaissance and monitoring, multi-target tracking and other tasks. In multi-UAV application scenarios, UAVs need to send their own status inf...

AI Technical Summary

Problems solved by technology

Patent CN106444423A proposes a ROS-based multi-UAV control system and its control method, but only considers collision avoidance among multi-UAVs, and cannot control multi-UAV systems for coordinated flight

[0005] Through the above analysis, the existing problems and defects of the existing technology are: in the prior art, the control architecture in the multi-UAV system mostly adopts a centralized control method, that is, a single control center (usually a ground station) controls multiple UAVs. The movement of the machine has disadvantages such as poor reliability, inflexible expansion, and low efficiency.

Multi-UAV flight is the prerequisite for multi-UAV system to perform missions. The method requires complex calculations and is difficult to implement in engineering

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