Thoughts on UAV Swarm Flight Control

illustrate:

1. This is only a consideration for the control of drone clusters, and has not been tested in practice. It is a note.

background:

1. A total of 2 drones (at least), need to complete a series of operations of take-off, mission execution, and return.
2. Takeoff: RTK positioning is used to ensure the positioning accuracy. However, the initial value of the coordinates is not certain, and there is no relative position information, so additional processing is required.
3. Execution of tasks: During the execution of tasks, no collisions and clear logic are guaranteed, and more drones can be adapted to join.
   4 Return: Return to the initial position autonomously and land without collision.

Existing foundation:

1. Have at least two UAVs in simulation time measured materials
2. Based on ROS operating system

1. UAV swarm takeoff

Consider the drone coordinate problem

1. Coordinate compensation amount: the initial coordinates of the UAV are not 0, and the coordinate compensation amount is calculated before take-off, and used as the calibration value of the coordinates for subsequent coordinate output and target coordinate input;
2. Coordinate system 1: After the above operations, the initial coordinates of the drone are all 0, and there are multiple coordinate systems. Select the main UAV (the first UAV) as the origin of the unified coordinate system, and add coordinate offsets to other UAVs. The coordinate system with the main UAV as the origin and the northeast sky as the u-axis is lowered. displacement.
3. Optimization: After the above operations, the drone clusters all work in a unified coordinate system, matching the simulation environment. However, it is necessary to accurately prevent the relative position of the UAV, in addition to the distance and the orientation. In order to reduce the trouble of azimuth measurement (a compass is required, while the distance only needs a ruler), use the compass of the UAV flight control to slave UAV to the main UAV, and automatically calculate after the slave UAV takes off Relative orientation , and then only need to give a relative distance to calculate the coordinates of the drone in the unified coordinate system.
4. Additional question: Based on the above scheme, after the relative distance is fixed (where the relative distance of the main UAV is 0), its take-off position must be fixed, so if it lands midway, it should be placed back to the initial point for take-off, otherwise it will appear Problem with wrong coordinates.

2. UAV swarms perform tasks

Consider the anti-collision problem between drones

1. At present, unmanned aerial vehicles are used to take over the execution. After one unmanned aerial vehicle is completed, the latter unmanned aerial vehicle will perform the task.

3. The return of the drone

1. The UAV rises to a height of 2m, and turns to the target position to return