多旋翼無人飛機編隊飛行開發

本研究使用一套 Ardupilot Mega 2560 飛控系統來進行，Ardupilot 是一套完整的嵌入式無人載具載具控制器，此系統提供開源程式，本研究預計在原本系統上增加新功能至 Ardupilot 內。研究的目的是要將編隊飛行的概念加入至多旋翼載具系統中，讓兩台載具在自動模式下，能夠相互保持一定的距離飛行。實驗建構兩組多旋翼作為編隊測試用的載具，分別為長機及僚機。長機會不斷地依照自身的位置訊息，即時計算出編隊航點並透過地面站發送給僚機，讓僚機自動飛行至目標航點。在長機於自動駕駛的情況下，新的編隊航點會持續發送給僚機，以達成雙機自動編隊的飛行。在原有的導航系統下加入自創的編隊飛行模式，為本研究的主要貢獻。

關鍵字

多旋翼無人飛機；編隊飛行； Ardupilot

並列摘要

The research is based on the Ardupilot Mega 2560 flight control board. Ardupilot is a complete embedded control system features with open source code, commonly used for unmanned vehicle auto piloting. The goal of this research is to create the new function of “formation flight” to the Multi-rotor UAVs which equipped with Ardupilot. A series of experiments use two multi-rotor UAV to play the role of leader and wingman. During the automatic flight of UAVs, the leader will continuously send a set of new navigation data to the wingman after the calculation of leader’s current position and heading. This research contributes an easy but novel method to achieve formation flight for numerous Ardupilot-based UAV systems.