用于旋翼无人机避障的数据预处理系统设计

Design of data preprocessing system for rotor UAV obstacle avoidance

旋翼无人机通过激光雷达探测障碍物的位置信息,据此自动避开障碍物。为了解决激光雷达的原始数据冗余问题,设计了一种数据处理系统,使激光雷达探测到的数据经过微处理器的硬件辅助处理、软件滤除、模式识别算法辨认障碍物等技术手段综合处理后,冗余数据量不但大幅减少,而且还能构建出激光雷达原始数据中不存在的障碍物的宽度信息。该系统大大减小了无人机飞行控制器的负担,可以减少多达80%的冗余数据量。

Rotor UAVs detect position data of obstacles by LIDAR,and automatically avoid the obstacles based on the data. In order to solve the redundancy problem of raw data probed by LIDAR,a system was designed to make a comprehensive processing of LIDAR detected raw data by hardware assisted processing,software filtering and pattern recognition algorithm to identify obstacles. After that,the amount of redundant data was not only greatly reduced,but also the width of obstacles that didn＇t exist in the raw data collected by LIDAR was constructed. This system reduces greatly the burden of the flight controller,and can reduce the amount of redundant data by as much as 80%.