臺灣博碩士論文加值系統

本論文研究目的在於建立結合邊緣運算與速度調控之無人機編隊飛行系統，將應用於多旋翼型、固定翼型和垂直起降型(VTOL)無人機的編隊系統，並於邊緣導控系統中整合機間通訊、導航控制和速度調控，使得無人機群協同編隊飛行，實現通用於各式無人機的編隊飛行系統。
在本研究的編隊飛行系統中，利用低功耗的邊緣運算系統進行載具之間的通訊與導航控制運算，以確保機群間能有效地訊息傳遞和協同編隊飛行。在機間通訊中，長機採用廣播通訊傳遞任務所需的資訊給予僚機；在導控運算方面，根據不同類型的無人機，設計相應的導航控制程式，並引入PID控制器調控飛行速度，使得跟隨之僚機能根據與長機的編隊位置距離誤差即時調整自身飛行速度，保持良好的編隊隊形。本研究刻意安排僚機跟隨至不同的飛行位置，並變換長機飛行速度進行實驗，該系統可快速、準確地調控僚機飛行速度，有效地收斂距離誤差，使得機群之間協同編隊飛行。

This study aims to the UAV formation flight control system based on edge computing and velocity control. The system will be applied to the formation systems of multirotor, fixed-wing, and vertical take-off and landing (VTOL) unmanned aerial vehicles. The system will integrate inter-vehicle communication, navigation control, and velocity control in the edge control system, enabling the UAV swarm to fly in coordinated formation and achieving a formation flight system that is universal for various UAV types.
In the formation flight system of this study, a low-power edge computing system is used for inter-vehicle communication and navigation control calculations to ensure that the swarm can effectively communicate information and fly in coordinated formation. In inter-vehicle communication, the leader uses broadcast communication to transmit mission-critical information to the wingman. In terms of control calculations, corresponding control programs are designed according to different UAV types, and a PID controller is introduced to control the flight velocity. This allows the wingman to adjust their flight velocity in real time based on the distance error between their formation position and the leader, maintaining a good formation. This study deliberately arranged for the wingman to follow different flight positions and changed the leader's flight velocity to conduct experiments. The system can quickly and accurately adjust the flight velocity of the wingman, effectively converge the distance error, and enable the swarm to fly in coordinated formation.

摘要……i
Abstract……ii
誌謝……iii
目錄……iv
表目錄……vii
圖目錄……viii
符號說明……x
第一章 緒論……1
1.1 研究背景……1
1.2 研究動機……1
1.3 研究目的……3
1.4 論文架構……3
第二章 文獻探討……4
2.1 群組無人機飛行……4
2.2 編隊飛行控制……5
2.3 機載通訊架構……6
2.4 編隊飛行系統欲突破目標……6
第三章 研究內容與方法……8
3.1 機載通訊系統架構……8
3.1.1 邊緣通訊系統……8
3.1.2 傳輸訊息格式……9
3.1.3 地面監控站……9
3.2 MAVLink通訊協議……10
3.2.1 訊息封包格式……10
3.2.2 訊息封包交換……10
3.3 編隊飛行控制……12
3.3.1 編隊位置計算……12
3.3.2 多旋翼機導航控制……13
3.3.3 固定翼機導航控制……13
3.4 PID速度調控 ……13
3.5 編隊系統之優化……15
3.5.1 開源編隊軟體……15
3.5.2 本研究提出之編隊控制法……15
3.6 編隊系統規劃……16
第四章 研究之軟硬體設備……18
4.1 無人載具系統架構……18
4.2 多旋翼型無人機……19
4.3 固定翼型無人機……19
4.4 垂直起降型無人機……20
4.5 航電系統……21
4.5.1 Pixhawk 6C 飛行控制器……21
4.5.2 MS5611 氣壓高度計……22
4.5.3 慣性感測器……22
4.5.4 IST8310 電子羅盤……23
4.6 MS5525 空速計……23
4.7 全球定位系統……24
4.8 無線控制系統……24
4.9 低功耗邊緣運算電腦……24
4.10 機載通訊系統……25
4.10.1 CUAV P9 無線數傳模組……25
4.10.2 Wi-Fi 無線數傳模組……26
4.11 開發環境介紹……26
4.12 地面監控系統……27
第五章 實驗規劃與結果……28
5.1 實驗流程及規劃……28
5.1.1 實驗測試環境……28
5.2 通訊距離測試……29
5.2.1 邊緣端通訊距離測試……29
5.2.2 監控端通訊距離測試……30
5.3 多旋翼型無人機……30
5.3.1 航點即時派送飛行測試……31
5.3.2 多旋翼型雙機編隊飛行測試……31
5.3.3 多旋翼型編隊飛行比較……35
5.4 固定翼型無人機……36
5.4.1 航點即時派送飛行測試……36
5.4.2 固定翼型雙機編隊飛行測試……37
5.4.3 固定翼型編隊飛行比較……40
5.5 垂直起降型無人機……42
5.5.1 航點即時派送飛行測試……42
5.5.2 垂直起降型雙機編隊飛行測試……42
第六章 結論與未來展望……46
6.1 結論……46
6.2 未來展望……47
參考文獻……48
Extended Abstract……50

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