在本論文中，我們利用模糊邏輯控制受控的飛行載具完成自主飛行，並且發展出一套導航點位移演算法使無人飛行載具完成設計的飛行隊形，其中受控無人載具需遵守依時序改變的導航點飛行，並由設限的飛行格式及油門調校控制來確保編隊飛行的完整性。即時飛行模擬平台被應用於實驗中，該硬體由兩部個人電腦組成，一端為控制端，另一端為模擬受控端，即時飛行模擬軟體則使用X-PLANE飛機飛行軟體，相關程式指令主要使用視窗環境開發的C及C++程式語言完成，所有演算法可經由即時模擬平台測試，並成功的由無人飛行載具的自主及多機同時飛行論證編隊飛行控制的可行性和強健性。

In this thesis, the fuzzy logic control is used to accomplish the autonomous flight with a chosen vehicle by simulation, and develop the algorithm of shifting waypoints to constrain the UAVs always fly in a designed flight formation. The controlled UAVs flight follows the updating waypoints in sequence. Besides, the limited form and the throttle con-troller are employed to implement the formation flight completely. The architecture of the real-time simulation platform is applied in experiments, where the hardware is composed of two personal computers; one is used the commander and the other one is for simulation plant. While, the real-time simulation program uses the X-Plane aircraft flight software. The command program software primarily uses C and C++ languages with window develop environment. All the algorithms are tested by the real-time simulation platform that can successfully demonstrate the feasibility and robustness of the formation flight control for unmanned aerial vehicle’s autonomous flight and multiple-vehicle flight.

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