扑翼飞行器的多机协同飞行设计与实践

扑翼飞行器(flapping-wing aerial vehicle,FAV)是一种模仿动物飞行方式的新型飞行器,其具有仿生性且飞行声音小等特点,具有广泛的军事和民用前景.由于扑翼飞行器动力学模型复杂且容易受到风等环境因素的影响,目前尚无成熟稳定的控制算法可以用来控制扑翼飞行器.目前对扑翼飞行器的控制大多仍以手动控制为...

Design and Practice of Multi-aircraft Cooperative Flight of Flapping-Wing Aerial Vehicle

Flapping-wing aerial vehicle is a new type aircraft which imitates the animal flight. It has the characteristics of bionics and low flying sound, and has a wide range of military and civilian prospects. Because the dynamic model of flapping-wing aircraft is complicated and can be easily affected by wind and other environment factors, there is no mature and stable control algorithm at present to control the flapping-wing aerial vehicle, and it is still mainly manual controlled, but manual control of flapping-wing aerial vehicle is constrained by the drone pilot’s proficiency, and it is hard to promote it on a large scale. By customizing the PX4 firmware and the QGC ground station for the flapping-wing aircraft to meet some scenarios’ requirements, autonomous flight and cooperative flight of flapping-wing aerial vehicle are successfully implemented. Besides, this project is introduced to the teaching of the“Embedded Computing Technology”course, which motivates the learning enthusiasm of the students and improves their innovative abilities.