四旋翼无人机自适应导航控制

摘要

Navigation control problem of Quadrotor Unmanned Aerial Vehicles was studied. Conventional Quadro-tor UAVs navigation control methods have the problems such as target positon error and poor real-time. In the paper, a Quadrotor UAVs navigation control method was proposed based on CLOS. CLOS was adapted for systematic naviga-tion control system design which enables the maneuver Quadrotor UAVs to accomplish the task of navigating and land-ing on an onboard mobile helipad autonomously. In this paper, the research has been very detailed in both control system design and simulation. Simulation results show the performance and effectiveness of the navigation control sys-tem. It can be applied to the real-time navigation of Quadrotor UAVs.%研究四旋翼(Quadrotor)无人机导航控制问题.针对传统的四旋翼无人机导航控制方法的目标定位误差和实时性差问题,提出了基于CLOS技术的导航控制方法.采用CLOS技术所开发的导航控制系统使得四旋翼无人机能够在移动停机坪完成自主导航和着陆的任务,并详细研究了导航控制系统的设计和仿真.仿真结果显示了所设计的导航控制系统的性能和有效性,可应用于四旋翼无人机的实时导航.