The multicopter formation is widely used in many different complex circumstances. And the semi-autonomous multicopter formation controlled with a single pilot on the ground draws people’s attention due to the great adaptability to various kinds of environments. In this paper, we focus on the problem of passing through narrow channels with semi-autonomous multicopter formation. Similar to the definition for a single multicopter, the altitude hold mode for the multicopter formation is defined first. Then, the formation decision-making and formation low-level control of the altitude hold mode are proposed one by one. Finally, a hardware-in-the-loop simulation and a real experiment are performed with four multicopters to pass through a narrow channel.
Semi-autonomous Multicopter Formation Control Under One Remote Pilot in GPS-Denied Environment
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 37 ; 368-378
18.03.2022
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Semi-autonomous Multicopter Formation Control Under One Remote Pilot in GPS-Denied Environment
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