This paper proposes a solution for the autonomous obstacle avoidance of a hovering flapping-wing robot based on visual perception to meet the requirements of low-speed,safe,and long-endurance flight in obstacle-rich indoor environments.Firstly,inspired by birds'visual information-based obstacle avoidance principle,a visual obstacle avoidance method based on optical flow detection is proposed to recognize both dynamic and static obstacles indoors.Secondly,a robot combining helium balloons with flapping wings is designed,utilizing helium buoyancy for primary lift and flapping wing motion for propulsion and secondary lift.A flight control method is designed to ensure stable flight and obstacle avoidance requirements.Finally,a robot prototype is fabricated,and its flight performance and autonomous obstacle avoidance capability are tested.Furthermore,a comparison is made between the proposed obstacle detection algorithm and another existing algorithm.The results indicate that the prototype exhibits a heading deviation of 5.52° in straight-line flying and a turning speed of 23°/s and achieves a 77％obstacle avoidance success rate with a single-frame detection time of 6.1 ms.This demonstrates its capability to accomplish low-speed hovering flight and autonomous obstacle avoidance,laying the foundation for its execution of indoor exploration tasks.
flapping-wing robotfloating robotautonomous obstacle avoidanceoptical flowflying control
维普
万方数据
