Co-TS: Design and Implementation of a 2-UAV Cooperative Transportation System

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2023-01-01 DOI:10.1177/17568293231158443

Qianli Weng, Guanming Liu, Pei Zhou, Haoran Shi, Kai Wen Zhang

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引用次数: 2

Abstract

UAV application research has attracted more and more attention of researchers. However, in the field of UAV transportation, especially in the case of multi-UAV cooperation, there is little research or design on the overall system of multi-UAV cooperative transportation due to the complexity of the task and many factors need to be considered. In this paper, we first introduce a 2-UAV cooperative transportation task scenario and we call it Co-TS. Then according to the scenario, we design a task planning system, which describes the entire process of 2-UAV performing transportation tasks; in order to solve the design complexity of this UAV upper-layer software, we propose a model architecture of 2-UAV transportation application, design the functions of each module and analyze the relationship between modules in the model architecture; in addition, to realize the correct execution of the 2-UAV cooperative transportation task, the task execution is divided into four states which include preparation, rising, forwarding, and landing states, and the corresponding cooperative transportation control flow algorithm is designed for four states. Finally, we develop this system and conduct experiments. The quantitative and qualitative results demonstrate the effectiveness of our method.

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2-UAV协同运输系统的设计与实现

无人机的应用研究越来越受到研究者的重视。然而，在无人机运输领域，特别是在多无人机协同运输的情况下，由于任务的复杂性和需要考虑的因素很多，对多无人机协同运输整体系统的研究和设计很少。本文首先介绍了一种2架无人机协同运输任务场景，我们称之为Co-TS。然后根据场景设计了任务规划系统，描述了2架无人机执行运输任务的全过程;为解决该无人机上层软件的设计复杂性，提出了2-无人机运输应用的模型体系结构，设计了各模块的功能，分析了模型体系结构中各模块之间的关系;此外，为了实现2-无人机协同运输任务的正确执行，将任务执行分为准备、上升、转发和降落四种状态，并针对四种状态设计了相应的协同运输控制流算法。最后，对系统进行了开发并进行了实验。定量和定性结果证明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.