【摘要】 传统四轴无人机部件拆装困难，难以满足多种载荷挂载需求。本文针对性地提出了一种模块化设计方案，可有效克服传统四轴无人机的不足，并通过受力分析验证了方案的可行性。同时，在模块化设计方案的基础上分析了无人机集群内部个体间的相互作用，建立了可使特定范围内无人机自组织飞行的数学模型。最后，在具体应用方面，提出了两种可解决无人机集群自组织避障问题的应对策略，有效提升了模块化自组织无人机对复杂环境的适应能力。更多还原

【Abstract】 The components of traditional four-axis UAV(unmanned aerial vehicle) are difficult to disassemble and assemble, making it difficult to meet various load mounting requirements. Therefore, a modular design scheme was proposed, which can effectively overcome the shortcomings of traditional four-axis UAV, and the feasibility of the scheme was verified through force analysis. Meanwhile, on the basis of the modular design scheme, the interaction between the individuals within the UAV swarm was analyzed, and a mathematical model that enables the UAV to fly autonomously within a specific range was established. Finally, in terms of specific applications, two strategies were proposed to solve the problem of self-organizing obstacle avoidance in UAV swarms, which effectively improves the adaptability of modular self-organizing UAVs to complex environments.更多还原