摘要
通过对四旋翼飞行特点的研究,为了保证四旋翼在简单背景的赛道线上稳定的起飞、降落,并且能够跟踪线路直飞和转向飞行,该算法采用基于中值滤波与分区统计算法结合的方法,让飞控芯片通过摄像头采集的图像自主决策飞行。最后,利用MATLAB软件和基于STM32芯片的四旋翼飞行器分别进行仿真和测试,实验结果表明这种算法在简单背景下能够成功循迹。
Based on the research of four-rotor flight characteristics, in order to ensure a stable four-rotor taking off and landing in a simple background track line, and the ability to track a lines and steer the flight, the algorithm uses a combination of median filter and partition statistics based on statistical algorithms to let the flight control chip to autonomous decision-making flight with the image captured by camera. Finally, the use of MATLAB software and based on STM32 chip four-rotor aircraft are simulated and tested experimental results show that this algorithm can track line successfully in simple background.
基金
国家自然科学基金(00000000)
国家高技术研究发展计划(863计划)(2008AA000000)
2015年湖南省大学生研究性学习和创新性实验计划项目资助(湘教通[2015]269号第385号)
关键词
四旋翼
循迹
自主飞行
Four-Rotor
Tracking
Autonomous Flight
