基于激光测距仪的四轴飞行器室内智能避障飞行

Autonomous Obstacle Avoidance of Quadrotor Interior Based on Laser Rangefinder

四轴飞行器是一种结构新颖、飞行方式独特、性能卓越的可垂直升降多旋翼飞行器。由于其优良的控制性和灵活性,现今已广泛应用于航拍、农业植保、快递物流等领域。然而,在其研究方向仍存在许多问题,如抗干扰能力、环境识别、自主避障等。本作品以实现室内自主避障飞行为理念,通过搭载激光测距仪等传感器,进行自主避障飞行。

Quadrotor is a kind of vertical liftable multi-rotor aircraft which has new structure and unique flying style.Based on its good control and flexibility,it is widely used in aerial photography,agricultural plant protection,and delivery.However,there are still many problems in its field of research,such as anti-jamming capability,environment recognition,autonomous obstacle avoidance and so on.In this work,autonomous obstacle avoidance of quadrotor interior based on laser rangefinder is studied,thus to achieve the concept of indoor self-obstacle avoidance flight.