Quadrotor formation flight : guidance law simulation and implementation

機構典藏 > College of Engineering > Graduate Institute & Department of Aerospace Engineering > Thesis > Item 987654321/105797

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Title:	Quadrotor formation flight : guidance law simulation and implementation
Other Titles:	四旋翼編隊飛行 : 導引率之模擬與實現
Authors:	梁辰暐;Liang, Chen-Wei
Contributors:	淡江大學航空太空工程學系碩士班馬德明;Ma, Der-Ming
Keywords:	四旋翼飛行器;Potential Field;Quadrotor;Matlab;Guidance
Date:	2015
Issue Date:	2016-01-22 15:05:33 (UTC+8)
Abstract:	Virtual Potential Field 運算法通常被採用來作為無人系統之避障方法，在本文中將利用Virtual Potential Field 的特點來作為編隊飛行之用，以Potential Field 推導出之推力以及引力作為保持距離以及維持編隊之隊形.在本文中以MATLAB 來模擬應用Virtual Potential field 的四旋翼機編隊飛行概念，並以成功的試飛來驗證了Virtual Potential field 的概念。 Virtual Potential field methods are rapidly gaining popularity in obstacle avoidance applications for mobile robots and manipulators. In this thesis a new way of using Virtual Potential field methods to UAV formation flight is proposed. With their simple and straight, the attractive and repulsive forces derived from Potential field methods can keep the distance between each UAV and the formation of the fleet. In this thesis the application of Potential field methods are simulated using MATLAB. The successful flight tests of 3 Quadrotor UAVs formation flight demonstrate the proposed idea.
Appears in Collections:	[Graduate Institute & Department of Aerospace Engineering] Thesis

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