让无人机群自动切换领飞者，减轻操作员负担并保持稳定队形。
Design of a Formation Control System to Assist Human Operators in Flying a Swarm of Robotic Blimps
- 通过动态换领机制，任意飞艇均可担任领航角色。
- 实验表明系统能稳定维持队形，适应室内复杂环境。
- 适合需要人机协同控制的无人机群应用场景。
编队控制对集群机器人至关重要，可在复杂环境中实现协同行为。本文提出一种基于专用主从架构的室内飞艇群编队控制系统，引入动态领航切换机制，使任意飞艇均可担任领航角色，从而分散操控压力并提升整体编队稳定性。仅由人工操作员控制领航飞艇，其余飞艇通过机载单目相机和激光高度计实现相对位置与高度估计。所提出的领航切换策略可协助操作员在急转弯等情况下保持集群稳定。实验结果验证了该机制在动态室内环境中有效维持稳定队形并辅助人类操作。
原文摘要 · Abstract (English)
Formation control is essential for swarm robotics, enabling coordinated behavior in complex environments. In this paper, we introduce a novel formation control system for an indoor blimp swarm using a specialized leader-follower approach enhanced with a dynamic leader-switching mechanism. This strategy allows any blimp to take on the leader role, distributing maneuvering demands across the swarm and enhancing overall formation stability. Only the leader blimp is manually controlled by a human operator, while follower blimps use onboard monocular cameras and a laser altimeter for relative position and altitude estimation. A leader-switching scheme is proposed to assist the human operator to maintain stability of the swarm, especially when a sharp turn is performed. Experimental results confirm that the leader-switching mechanism effectively maintains stable formations and adapts to dynamic indoor environments while assisting human operator.
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