基於即時邊緣運算之無人機群協同控制系統

本文建立一套融合邊緣運算與速度調控的無人機編隊飛行系統，適用於多旋翼、固定翼與垂直起降型（VTOL）無人機。系統核心採用低功耗之邊緣設備，實現即時的機間通訊、導航控制與速度調節，提升編隊飛行之彈性與通用性。編隊架構中，長機以廣播方式傳遞任務資訊，僚機則依據與長機之相對誤差進行即時速度修正。為因應不同載具類型，本文設計相應的導航演算法與PID控制機制，以確保隊形穩定與誤差快速收斂。實驗結果顯示，本文所建構之系統具備優異之速度調節能力與跨機型適應性，展現邊緣運算於異質無人機群協同控制領域的應用潛力。

This article presents a formation flight system for unmanned aerial vehicles (UAVs) that integrates edge computing with adaptive speed control, supporting multirotor, fixed-wing, and vertical take-off and landing (VTOL) UAV platforms. The system employs low-power edge devices to enable real-time inter-UAV communication, navigation control, and dynamic speed adjustment, thereby enhancing flexibility and generality in formation operations. In the formation structure, the lead UAV broadcasts mission information, while follower UAVs adjust their speed in real time based on relative position errors. To accommodate different UAV types, corresponding navigation algorithms and PID control strategies are developed to ensure formation stability and rapid convergence of position errors. Experimental results demonstrate that the proposed system offers effective speed regulation and strong adaptability across heterogeneous UAVs, highlighting the potential of edge computing in cooperative UAV swarm control applications.