Research on Autonomous Obstacle Avoidance and Positioning Echnology of Quadrotor UAV
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.
binocular visionfeature point extractionautonomous obstacle avoidancepoint cloud dataartificial potential field method
NETL
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