基於MultiWii之雙機無線通聯系統建立

本研究的目的是要建立兩架多旋翼無人機之間的無線通訊系統，讓兩機能夠透過無線通訊系統互相溝通，使僚機能夠確實地接收到來自長機的指令，來達成長機控制僚機之目的。本研究使用一套MultiWii飛行控制系統與XBee無線數據傳輸系統來進行；MultiWii是一套基本但功能齊全的嵌入式飛行載具控制器，此系統提供開源程式；XBee是一套穩定且成熟的無線傳輸模組。本研究將在固有系統上增加新功能至MultiWii內。實驗建構兩台多旋翼機作為雙機無線通訊測試用的載具，分別為長機及僚機。長機可線上即時地透過XBee無線傳輸模組發送指令給僚機，讓僚機執行之。當長機能夠控制僚機的去向，這表示長機可以對僚機進行即時或非即時的控制，例如指揮僚機伴飛在長機身邊(即時控制)或指派一連串的導航點讓僚機代為協助執行(非即時控制)，這就構成了一套所謂的多代理人系統。建立兩機之間的無線通訊系統，為本研究的主要貢獻。

關鍵字

多旋翼無人機；多代理人系統；無線通聯； MultiWii

並列摘要

Under the concept of cooperative UAV swarm working together to perform a wide-area mission, the construction of a wireless, online, real-time, and reliable communication system which allows one UAV commanding the others is the very first step. The goal of this research is to establish a communication system for multi-agent UAVs. This development is mainly based on the MultiWii control board and XBee telemetry modules. MultiWii is a compact but functional perfection embedded unmanned vehicle controller, and it provides open source codes which allowing user to create new function on it. XBee is a popular and reliable wireless telemetry module; hence it is used for transmitting data among the UAVs in this research. Two Multi-rotor UAVs platform are built to play the role as a leader and a follower. The test results shows the leader UAV can dynamically calculate and assign a series of mission waypoints to the follower to carry out, all through the communication system developed in this research. The contribution of this work is the first establishment for the MultiWii-based communication system which could be used for further multi-agent research.