华中科技大学学报（自然科学版）Issue(z1)：481-485,5.DOI:10.13245/j.hust.15S1114
基于集中式控制的多个无人飞行器编队
Multiple UAV formation control based on consensus control structure
刘楚豪1
作者信息
- 1. 东莞松山湖机器人产业基地，广东 东莞 523808
- 折叠
摘要
Abstract
This project designed a control system for multiple quadrotors formation in static environ-ment,with system built on centralized control structure.The control system is built on open source robot platform-robot operating system (ROS).In this system,each quadrotor can receive its real-time position precisely.A virtual point is set manually and each quadrotor is required to keep a steady posi-tion compare to this point.So,the group of quadrotors can move in formation.Obstacle avoidance module is also developed by algorithm combined with detecting sensors on quadrotor.All the result is simulated on computer.It proves that consensus control system is a quick and stable method to a-chieve multiple quadrotors formation control.关键词
无人机/编队/机器人操作系统/集中式控制/避障Key words
unmanned aerial vehicle/formation control/robot operating system/consensus control/obstacle avoidance分类
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刘楚豪..基于集中式控制的多个无人飞行器编队[J].华中科技大学学报（自然科学版）,2015,(z1):481-485,5.
