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基于A(yíng)I技術(shù)的固定翼無(wú)人機集群分布式規避控制系統研究與設計
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重慶工程職業(yè)技術(shù)學(xué)院 大數據與物聯(lián)網(wǎng)學(xué)院

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重慶市教育委員會(huì )科學(xué)技術(shù)研究計劃青年項目(KJQN202103404,KJQN202303419)、重慶工程職業(yè)技術(shù)學(xué)院校級科研課題(KJA202313)


Research and Design of Distributed Avoidance Control System for Fixed Wing Drone Cluster Based on AI Technology
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    摘要:

    固定翼無(wú)人機集群是由多個(gè)固定翼無(wú)人機組成的群體,在飛行任務(wù)中協(xié)同工作。相比于單個(gè)無(wú)人機,固定翼無(wú)人機集群具有更高的綜合性能和更廣闊的應用前景。但由于固定翼無(wú)人機在惡劣環(huán)境作業(yè)過(guò)程中存在著(zhù)很多風(fēng)險,例如障礙物撞擊、相鄰無(wú)人機碰撞等,威脅無(wú)人機的安全性。故設計了基于A(yíng)I技術(shù)的固定翼無(wú)人機集群分布式規避控制系統。系統硬件單元主要包括AI視覺(jué)傳感器設計單元、激光雷達傳感器設計單元、控制器設計單元與無(wú)線(xiàn)通信網(wǎng)絡(luò )設計單元,通過(guò)上述硬件設備提供實(shí)時(shí)的環(huán)境信息,控制無(wú)人機飛行姿態(tài),實(shí)現信息共享。軟件模塊基于A(yíng)I技術(shù)解算無(wú)人機位置和姿態(tài),計算障礙物位置實(shí)現形狀感知,完成無(wú)人機集群分布式規避控制。通過(guò)硬件與軟件的協(xié)同作業(yè),實(shí)現了固定翼無(wú)人機集群的分布式規避控制。實(shí)驗結果顯示:應用設計系統獲得的無(wú)人機位置感知結果、障礙物位置感知結果與實(shí)際位置相同,路徑總偏離量數值為4m,充分證實(shí)了設計系統控制性能較佳。

    Abstract:

    A fixed wing drone cluster is a group of multiple fixed wing drones that work together during flight missions. Compared to individual drones, fixed wing drone clusters have higher comprehensive performance and broader application prospects. However, due to the many risks associated with fixed wing drones operating in harsh environments, such as obstacle collisions, adjacent drone collisions, etc., the safety of drones is threatened. Therefore, a distributed avoidance control system for fixed wing unmanned aerial vehicle clusters based on AI technology was designed. The system hardware unit mainly includes an AI visual sensor design unit, a LiDAR sensor design unit, a controller design unit, and a wireless communication network design unit. Through the above hardware devices, real-time environmental information is provided to control the drone"s flight attitude and achieve information sharing. The software module is based on AI technology to calculate the position and attitude of drones, calculate the position of obstacles to achieve shape perception, and complete distributed avoidance control of drone clusters. Through the collaborative operation of hardware and software, distributed avoidance control of fixed wing drone clusters has been achieved. The experimental results show that the position perception results of the unmanned aerial vehicle and obstacle obtained by the application design system are consistent with the actual position, and the total deviation value of the path is 4m, fully confirming that the design system has better control performance.

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劉勝久.基于A(yíng)I技術(shù)的固定翼無(wú)人機集群分布式規避控制系統研究與設計計算機測量與控制[J].,2024,32(7):85-91.

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  • 收稿日期:2024-01-23
  • 最后修改日期:2024-03-15
  • 錄用日期:2024-03-18
  • 在線(xiàn)發(fā)布日期: 2024-08-02
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