基于SLAM算法的无人机雷达避障系统

Radar obstacle avoidance system of UAV Based on SLAM algorithm

本文设计了一款基于激光雷达与SLAM算法的无人机避障系统,首先通过激光雷达进行360度扫描,运用三角测距技术及光磁融合技术获取精确的距离及角度数据;然后数据通过MQTT协议进行传输,利用4G网络,传到云服务器和地面站;地面站通过SLAM避障算法进行处理,设计出最优避障路径,并向无人机发送姿态改变指令,完成避障动作;最终实现无人机自我定位、自行避障、自主导航的目的。

This project is to design a UAV obstacle avoidance system based on lidar and SLAM algorithm.Firstly,the UAV obstacle avoidance system is scanned 360 degrees by lidar,and the precise range and angle data are obtained by triangulation ranging technology and optical-magnetic fusion technology.Then the data is transmitted by MQTT protocol and transmitted to cloud server and ground using 4G network.The ground station is processed by SLAM obstacle avoidance algorithm to design the optimal obstacle avoidance path and send attitude change instructions to UAV to complete the obstacle avoidance action.Finally,the purpose of UAV self-localization,self-obstacle avoidance and autonomous navigation is realized.