四旋翼无人机自主避障与定位技术研究
Research on Autonomous Obstacle Avoidance and Positioning Echnology of Quadrotor UAV
胡改玲 1权双璐 1郭文静 1王永泉1
作者信息
- 1. 西安交通大学机械工程学院 陕西 西安 710049
- 折叠
摘要
无人机自主飞行的定位和避障是制约其发展的主要影响因素.为使无人机能够根据设定的多个目标点自主规划路径、躲避障碍并到达目标点,设计并制作了一架四旋翼无人机,利用ROS进行模块化设计实现GPS定位和基于SIFT特征点提取的双目视觉定位,分析激光雷达点云数据实现障碍检测,并利用人工势场法实现路径规划,能够完成自动飞行到达若干个目标点的任务.最后进行了算法测试与真机测试,在飞行测试中无人机可以绕过或者跨越障碍物,按照预定路线到达目标点.
Abstract
The localization and obstacle avoidance of UAV autonomous flight are the main factors restricting its development.In order to realize the purpose of autonomous planning of the UAV according to multiple target points,avoiding obstacles and reaching the target point,the project designed and produced a quadrotor UAV.Using ROS for modular design,it realized GPS positioning and binocular visual positioning based on SIFT feature point extraction.Using Li DAR point cloud data to achieve obstacle detection and using artificial potential field method to achieve path planning,it can automatically fly to several target points.Finally,the algorithm test and the real aircraft test are carried out.In the flight test,the UAV can bypass or cross the obstacles and reach the target point according to the predetermined route.
关键词
双目视觉/特征点提取/自主避障/点云数据/人工势场法Key words
binocular vision/feature point extraction/autonomous obstacle avoidance/point cloud data/artificial potential field method引用本文复制引用
出版年
2025
NETL
NSTL
万方数据