四旋翼編隊飛行-導引率之模擬與實現

Quadrotor formation flight - Guidance Law Simulation and Implementation

梁辰暐(Chen-Wei Liang)

指導教授 ： 馬德明

淡江大學/工學院/航空太空工程學系碩士班/碩士(2015年)

https://doi.org/10.6846/TKU.2015.00973

摘要

Virtual Potential Field 運算法通常被採用來作為無人系統之避障方法，在本文中將利用Virtual Potential Field 的特點來作為編隊飛行之用， 以Potential Field 推導出之推力以及引力作為保持距離以及維持編隊之隊形.在本文中以MATLAB 來模擬應用Virtual Potential field 的四旋翼機編隊飛行概念，並以成功的試飛來驗證了Virtual Potential field 的概念。

關鍵字

四旋翼飛行器 ； MATLAB ； Guidance ； potential field

並列摘要

Virtual Potential field methods are rapidly gaining popularity in obstacle avoidance applications for mobile robots and manipulators. In this thesis a new way of using Virtual Potential field methods to UAV formation flight is proposed. With their simple and straight, the attractive and repulsive forces derived from Potential field methods can keep the distance between each UAV and the formation of the fleet.
In this thesis the application of Potential field methods are simulated using MATLAB. The successful flight tests of 3 Quadrotor UAVs formation flight demonstrate the proposed idea.

並列關鍵字

Quadrotor ； MATLAB ； Guidance ； potential field

參考文獻

[1] Ge, S. S. and Cui, Y., "New Potential Functions for Mobile Robot Path Planning", IEEE Transactions on Robotics and Automation, Vol. 16, October 2000.

[2] Erik de Vries, Kamesh Subbarao "Cooperative Control of Swarms of Unmanned Aerial Vehicles", AIAA Aerospace Sciences Meeting, University of Texas, USA, 2011.

[8] Warren F. Phillips, Mechanics of Flight., John Wiley Sons, Inc., United States of America, 2004

[3] MiLu Li, "Study of Quadrotor Formation Flight", M.D. Thesis, Tamkang University, Dept. of Aerospace Engineering, Taiwan, 2014.

[4] 李壙宇, "Autopilot Design for Quadrotor", M.D. Thesis, Tamkang University, Dept. of Aerospace Engineering, Taiwan, 2014.