臺灣博碩士論文加值系統

　　無人飛行載具(UAV)市場已漸漸擴大，應用範圍也越加廣泛，多智能體編隊的概念可視為UAV的下個里程碑，其包含了編隊飛行和防撞控制的基本概念。本研究選定的UAV為具有高機動性與垂直起降能力的X型四旋翼，主要研究為包含四旋翼飛行控制器設計、自主導航設計、編隊設計和防撞設計之軟體迴路模擬的開發，其控制器皆使用容易修改之PID控制器設計。

　　利用使用者介面(UI)的BCB製作地面站，連接擁有模擬四旋翼飛行動態軟體X-Plane，為設計多智能體編隊飛行系統，以虛擬長機的編隊架構，連接另台電腦使有兩台四旋翼進行模擬，以完成無人飛行載具多智能體軟體迴路模擬之開發，實驗結果表明兩台僚機除追隨虛擬長機做編隊飛行外，也因增加防撞控制而能保持一定距離。未來UAV將可做較複雜的任務，像是廣域的搜救或偵察。

　　Since the market of unmanned aerial vehicle (UAV) has been gradually expanding, more and more applications have been developed. The concept of multi-agent system, a swarm of UAVs is the next stage of UAV technologies, and the supporting technologies are also need to be considered such as anti-collision design of multiple UAVs. In this study, the X-type quad-rotors were selected due to its high mobility and the capability of vertical take-off and landing (VTOL). Regarding the implementation using software-in-the-loop simulation, we explored the major issues in UAV multi-agent flight formation such as flight control system design, autonomous navigation design, formation control design and anti-collision design. All of them were designed by using PID controller because it can be easily implemented and modified.
　　We used a user interface (UI) program BCB to design the ground control stations, and then it was connected with X-Plane to simulate the dynamics motion of real quad-rotors. To achieve the software-in-the-loop simulation of UAV multi-agent flight formation, we decide to use the virtual leader architecture of formation flight and connect other computers so that two simulated quad-rotors can perform the simulation at the same time. The simulation results show that these two flying vehicles can function formation flying and keep a desired distance with each other.

第一章 緒論 1
1-1. 前言 1
1-2. 文獻回顧 2
1-3. 研究動機 4
1-4. 論文架構 6
第二章 編隊控制 9
2-1. 編隊架構 9
2-2. 編隊模擬 13
2-3. 模擬結果與討論 17
第三章 軟體迴路控制 20
3-1. 姿態控制 20
3-2. 位置控制與速度控制 25
3-3. 導航控制與導引控制 36
第四章 防撞控制 40
4-1. 防撞要點 40
第五章 模擬環境建置 46
5-1. BCB與XPLANE 46
5-2. 連接另台電腦 49
第六章 模擬與驗證 53
6-1. 單台僚機 53
6-2. 多台僚機 58
第七章 結論與未來展望 71
7-1. 實驗結果與討論 71
7-2. 未來展望 73
參考文獻 75

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