The Development of a MultiWii-Based Communication System for Multi-agent UAVs
| Autor: | Guo-Zheng Wu, 吳國正 |
|---|---|
| Rok vydání: | 2015 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 104 Under the concept of cooperative UAV swarm working together to perform a wide-area mission, the construction of a wireless, online, real-time, and reliable communication system which allows one UAV commanding the others is the very first step. The goal of this research is to establish a communication system for multi-agent UAVs. This development is mainly based on the MultiWii control board and XBee telemetry modules. MultiWii is a compact but functional perfection embedded unmanned vehicle controller, and it provides open source codes which allowing user to create new function on it. XBee is a popular and reliable wireless telemetry module; hence it is used for transmitting data among the UAVs in this research. Two Multi-rotor UAVs platform are built to play the role as a leader and a follower. The test results shows the leader UAV can dynamically calculate and assign a series of mission waypoints to the follower to carry out, all through the communication system developed in this research. The contribution of this work is the first establishment for the MultiWii-based communication system which could be used for further multi-agent research. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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