Unmanned aerial vehicle formation implementation

• 主要作者: Lee, Na Shen.
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Theses and Dissertations
• 語言: English
• 出版: 2013
• 主題: DRNTU::Engineering::Mechanical engineering
• 在線閱讀: http://hdl.handle.net/10356/54703

Unmanned Aerial Vehicle (UAV) has been a great area of research and the topic of UAV formation is of interest recently. This research focuses on implementing UAV formation on a flying quadrotor platform. The benefits of achieving UAV formation include the capability to provide wider coverage in surveillance and the ability to enhance mission efficiency. Based on Ascending Technology Pelican quadrotor system, the model of the aircraft was derived from moment of inertia measurement and parameter estimation. Controllers (Compensator and PIDcontroller) were designed for simulations and ultimately, PID controller was implemented on actual flight test. To simplify the implementation and stay focused on the original objective, the system was implemented on an unmanned aerial and ground vehicle system (UAV-UGV), with the UGV as the leader. There is good matching in the comparison between flight data and simulation results. This validates the parameters estimation results and proves the performance of the formation flight controller.