基于半自主导航与运动想象的多旋翼飞行器二维空间目标搜索

Two-dimensional space target searching based on semi-autonomous navigation and motor imagery for multi-rotor aircraft

提出一种脑-机接口系统实现多旋翼飞行器室内二维空间目标搜索.系统由半自主导航与决策子系统组成.半自主导航子系统用于为决策子系统提供可行飞行方向并实现多旋翼飞行器半自主避障.决策子系统采用互相关方法与逻辑回归方法完成运动想象的脑电特征提取与分类.实际的室内目标搜索实验验证了使用该系统是可行且有效的.相比其他方法,减少了被试者负担,降低控制难度,控制精度约提高±10 cm.

A brain computer interface（ BCI） system was proposed to realize the two-dimensional indoor space target searching for multi-rotor aircraft. This system consists of semi-autonomous navigation and decision subsystems. The semi-autonomous navigation subsystem is employed to provide feasible directions for the decision subsystem and avoid obstacles semi-automatically for multi-rotor aircraft. The decision subsystem utilizes the cross-correlation（ CC） and logistic regression（ LR） methods to implement motor imagery（ MI） electroencephalogram（ EEG） feature extraction and classification,respectively. The actual indoor target searching experiment validates the feasibility and effectiveness of this BCI system. Compared to similar methods,the proposed BCI system reduces the burden of the subjects and the control difficulties. The control precision increases by approximately ± 10 cm.