灾害救援中四旋翼低空飞行控制关键技术研究

Research on Key Technologies of Flight Control for Quadrotor in Rescue Mission

四旋翼无人系统救援属于智能体自主与鲁棒控制难题,解决四旋翼救援过程中的飞行控制问题,将是无人机技术在智能体自主控制领域的一个重要突破,不仅对于提高无人机的自主能力具有重要科学意义,而且对无人系统在灾害救援方面的应用具有较高的理论和实际指导意义。本文在介绍四旋翼无人机救援任务的特点和国内外研究现状后,重点阐述了灾害救援中四旋翼飞行控制的关键技术,并对其中存在的问题进行了总结与分析。

The rescue mission of quadrotor is an automatic and robust control problem of intelligent agent. Solving the flight control problem of quadrotor is an important breakthrough in the field of automation. It has significant influences in drone autonomy and disaster rescue. First, this paper describes the characteristics of the rescue mission for quadrotors and the current researches at home and abroad. Then we focus on the key technologies of flight control for quadrotors in rescue missions. At last,the paper summarizes and analyzes the main problems.