An Introduction to Formation Control of UAV with Vicon System
An Introduction to Formation Control of UAV with Vicon System
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Vicon系统无人机编队控制简介
DOI：
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发表时间：
2019
期刊：
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通讯作者：
Xiangke Wang
中科院分区：
文献类型：
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作者：
Yangguang Yu;Zhihong Liu;Xiangke Wang
作为迈向大型蜂群完全分布式编队控制的第一步，我们展示了一个在VICON运动捕获系统下由三个四轴飞行器组成的分布式飞行演示。本文介绍了系统的硬件配置和一种分散式的软件体系结构。然后，为了验证系统的有效性，我们设计了一个实验，三架四轴飞行器使用协商一致协议围绕一个定点进行协调旋转。最后，对部分飞行数据进行了报告和分析。
As a first step towards fully distributed formation control for a large swarm, we exhibit a distributed flight demo with three quadcopters under Vicon motion capture system. In this paper, hardware setup of system and a decentralized software architecture are introduced. Then, in order to validate the system, we design an experiment in which three quadcopters circle around a fixed point coordinately by using the consensus protocol. Finally, some flight data are reported and analyzed.