The Prometheus Cluster Formation Development Kit is a secondary development platform for UAVs that is oriented towards cluster and multi-agent related research directions, and adopts distributed cluster algorithms. Compared with traditional drone clusters, distributed drone clusters are more flexible, reliable and efficient, and can be applied to more complex and diverse mission scenarios.
Distributed cluster scientific research platform to help the implementation of algorithms
[Indoor and outdoor distributed UAV cluster development platform] High-precision submillimeter-level positioning/UWB centimeter-level positioning...
Indoor and outdoor formation introduction
P600 Large Wheelbase Outdoor UAV Formation
The P600 drone is positioned as an outdoor drone platform with a wheelbase of 600mm and a standard formation of 3-5 drones. It is equipped with RTK centimeter-level positioning equipment and has excellent flight stability. The characteristics of its large load and long battery life enable the platform to carry more sensors and realize more functions. The communication module adopts the Homer graph data transmission link, which can realize one-to-many networking function, the ground-to-air communication distance can reach 2-4km, and the computing power of the Allspark airborne computer is 21TOPS, which can meet the needs of most algorithms. Since the cluster algorithm adopts a distributed architecture, it can choose to use the ad hoc network module to realize the distributed cluster function.
P230 small wheelbase indoor drone formation
P230 is a small UAV experimental platform specially designed for scientific researchers and UAV developers, with a wheelbase of 250mm and a protective cover, suitable for indoor flying scenarios. At present, the standard formation product is 3-5 drones, and each drone is equipped with an Allspark onboard computer with a computing power of 21TOPS, which can meet the application of most complex algorithms. The communication module adopts the Minihomer image data transmission link, which can support up to 1 pair of 8 networking, and the indoor communication distance is 150-200m. The positioning methods are divided into motion capture positioning and UWB positioning. The positioning accuracy of motion capture can reach sub-millimeter level, and the stability is good; UWB positioning is easy to disassemble and can be used in indoor and outdoor scenes, with high cost performance (but not recommended when there is magnetic field or electromagnetic wave interference. environment).
Features
The Prometheus cluster formation development kit is a set of platform solutions developed for outdoor drone cluster research, including drones, positioning modules, communication modules, flight controllers, onboard computers and supporting cluster control software systems. The cluster control software system is based on the two open source platforms of ROS (Robot Operating System) and PX4 (Flight Control Software System), combined with the Prometheus cluster control sub-module of the open source project of the UAV autonomous platform of Amu Lab. Provide cluster formation-related function demos, supporting Prometheus ground station-Pro to realize human-computer interaction.
Currently available functions
1. Formation flight: provide line formation, triangle formation and formation change;
2. Autonomous assignment of tasks: UAV swarms independently assign formation tasks;
3. Independent correction of position data: adjust the origin of the coordinate system independently according to the RTK positioning data, and unify the origin of the coordinate system;
4. UAV self-inspection system: to ensure the normal and stable operation of the system and avoid user misoperation;
5. UAV safety protection mechanism: reduce the risk and loss of bombing.
Prometheus Professional Edition Ground Station Introduction
The Prometheus cluster formation development kit is equipped with the Prometheus-Pro ground station. The human-computer interaction interface is easy to operate and can be used quickly, which significantly reduces the difficulty of getting started and improves development efficiency. The ground station simplifies the operation and use process of Prometheus, and at the same time adopts the TCP/UDP communication mechanism to avoid the cumbersome configuration of ROS1 multi-machine communication. At present, most of the functions in the Prometheus project have been adapted, including but not limited to stand-alone machines, clusters, pods, visual control operations, and real-time data feedback, etc., and are applicable to both real machines and simulation systems.
The Prometheus cluster formation development kit has a good open source ecology, which can play an important role in search and rescue, logistics distribution, agriculture, building monitoring and other fields, and promote the development of related fields.
Welfare:
In addition , the source code and simulation system of the cluster formation control software system and supporting training for the secondary development of the drone cluster are provided to assist users to get started quickly. The training content can be adjusted according to the user's situation, so that the user can more efficiently master the use and secondary development of the UAV cluster formation kit.