[2023-Vol.20-Issue 6]Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy
Post: 2023-12-29 13:55  View:325

Journal of Bionic Engineering (2023) 20:2542–2558

Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

Hui Xu1 · Yuanpeng Wang1 · Erzhen Pan1 · Wenfu Xu1,2 · Dong Xue3 Erzhen Pan

1 School of Mechanical Engineering and Automation, Harbin Instwitute of Technology, Shenzhen 518055, China

2 State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000, China

3 School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China

Abstract: Birds in nature exhibit excellent long-distance flight capabilities through formation flight, which could reduce energy consumption and improve flight efficiency. Inspired by the biological habits of birds, this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots (LFWFRs), which can enhance their search range and flight efficiency. First, the kinematics model for LFWFRs is established. Then, an autonomous flight controller based

on this model is designed, which has multiple flight control modes, including attitude stabilization, course keeping, hovering, and so on. Second, a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing flight. The up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance, which overcomes the trajectory divergence caused by sensor delay and fuselage fluctuation. Third, typical formation flight modes are realized, including straight formation, circular formation, and switching formation. Finally, the outdoor formation flight experiment is carried out, and the proposed autonomous formation flight control method is verified in real environment.

Keywords: Bionic · Large-sized flapping-wing flying robot · HIT-Phoenix · Periodic flight characteristics · Formation flight · Leader follower strategy


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