多无人机控制平台控制算法实验设计

2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2021-05-28 DOI:10.1109/YAC53711.2021.9486646

Xi Zhao

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引用次数: 0

摘要

搭建了一个多无人机控制平台，可用于多无人机控制算法的验证和多无人机协同系统的构建。地面站程序采用改进的命名管道连接多进程，稳定地支持多无人机的控制和测试功能。通过合理设计多进程间的通信链路，适当简化通信协议流程，弥补了进程创建成本高、通信效率低等缺点。同时，搭建了可嵌入多无人机控制算法的实验平台。通过仿真和实机实验验证了平台的稳定性和可用性，对多架无人机和单架无人机的观察基本达到了控制算法的验证要求。

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Design of Multi-UAVs Control Platform for Control Algorithm Experiments

We build a multi-UAVs control platform that can be used for verification of multi-UAVs control algorithm and also for the construction of multi-UAVs cooperation system. The ground station program, using the improved named pipeline to connect the multi-process, supports the control and test functions of multi-UAVs stably. Through the reasonable design of the communication link between multiple processes and the proper simplification of the communication protocol flow, we make up for the disadvantages such as high process creation cost and low communication efficiency. At the same time, an experimental platform for embeddable multi-UAVs control algorithm is built. The stability and usability of the platform have been verified by simulation and real machine experiments and the observation of multi-UAVs and a single UAV has basically reached the verification requirements of the control algorithm.

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来源期刊

2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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