基于Pixhawk的无人机室内通道自主避障研究

Research on Autonomous Obstacle Avoidance of Indoor Channel of UAV Based on Pixhawk

针对目前的无人机自主避障研究,以及无人机穿越的需求,提出了一套能完成避障穿越的四旋翼无人机避障系统。其中采用了Pixhawk作为无人机的飞行控制器,树莓派3B+上来运行MAVROS和避障算法,以及连接超声波传感器,通过超声波传感器来判断无人机当前位置,通过MAVLINK发布安全航点给无人机,进行避障穿越飞行。

Aiming at the current research on autonomous obstacle avoidance of UAVs and the demand for UAV crossing, a set of four-rotor UAV obstacle avoidance systems capable of completing obstacle avoidance crossing is proposed. The Pixhawk is used as the flight controller of the drone, the Raspberry Pi 3B+ is used to run the MAVROS and obstacle avoidance algorithms, and the ultrasonic sensor is connected. The ultrasonic sensor is used to judge the current position of the drone, and the safe waypoint is issued to the unmanned via MAVLINK machine to carry out obstacle avoidance flight.