四旋翼无人机自主避障系统的设计与实现

Design and implementation of autonomous obstacle avoidance system for quadrotor UAV

针对自主导航过程的预先避障和飞行控制中预判与控制,该文利用超声波检测距离原理对体小质轻、低空低速的小型无人机导航控制系统的自主避障功能进行了研究。小型无人机将AHRS信息采集与避障飞行控制分开设计为两部分相对独立的系统。两片DSP芯片分别实现姿态数据采集、处理和避障导航计算,有效降低了导航系统的计算复杂度,实时通信和数据处理更加流畅。飞行实验表明,无人机可以预判,及时规避障碍物和自主巡航,设计方案可靠稳定,可为民用小型无人机的设计与应用提供参考。

In allusion to the obstacle pre-avoidance in the autonomous navigation process and the prejudgment and control in flight control,the autonomous obstacle avoidance function of the small-scale low-altitude and low-speed unmanned aerial vehi-cle(UAV)navigation control system with small volume and light weight is studied by using the distance detection principle of the ultrasonic wave.In the small-scale UAV,the AHRS information acquisition and obstacle avoidance flight control are sepa-rately designed into two parts of relatively-independent systems.The two DSP chips are adopted to respectively realize attitude data acquisition and processing and navigation calculation of obstacle avoidance,so as to effectively reduce the computational complexity of the navigation system,and make the real-time communication and data processing more smooth.The results of the flight experiment show that the UAV can prejudge and avoid obstacles timely,and perform autonomous cruise;the design scheme is reliable and stable,which can provide a reference for design and application of the small-scale civil UAV.