摘要
针对Pixhawk开源项目的特点,开发一型基于开源飞控的无人艇平台。首先围绕Pixhawk项目的特点,从硬件框架、软件框架以及MAVLink通信协议3个方面对其进行介绍。通过相关的实船试验,验证了所开发无人艇平台的可行性及有效性。
According to the characteristics of Pixhawk open source project,an unmanned surface vehicle platform based on open source flight control project was developed.First of all,it focuses on the characteristics of the Pixhawk project,from the hardware framework,software framework and MAVLink communication protocol.Finally,the feasibility and effectiveness of the unmanned surface vehicle platform are verified by relevant experiments.
作者
闫勋
袁辉
甄庆喆
姜大鹏
刘凤光
YAN Xun;YUAN Hui;ZHEN Qing-zhe;JIANG Da-peng;LIU Feng-guang(Harbin Engineering University,Harbin 150001,China;SLin Yat-san University,Zhuhai 519080,China;Ship and Boat Brigade 331 of army Coastal Defense,Dalian 116000,China)
出处
《舰船科学技术》
北大核心
2020年第3期148-151,共4页
Ship Science and Technology
基金
装备预研领域基金资助项目(61403120305)。
关键词
Pixhawk
无人艇
控制系统
路径规划
Pixhawk
unmanned surface vehicle(usv)
control system
path planning
