无人机的激光雷达自主巡逻飞行器系统设计

System Design of Autonomous Patrol UAV Based on Lidar

针对目前社会对治安问题的高度关注和与之受限的人力物力因素,本文提出了一种非传统的巡逻方式,即使用无人机进行自主巡逻。该系统将巡逻任务分解为不同的节点,通过GPS定位系统进行导航,使用激光雷达进行实时SLAM建图的障碍物检测算法,发现障碍物时使用D*算法规划出一条躲避障碍物的较优路径。实验结果表明,该系统能够有效自主避障、完成巡逻任务,为当前的巡逻问题提供了一种新思路,促进了机器人应用于实际解决现实问题的进程.

Aiming at the current society's high attention to safety issues and its limited human and material factors,a non-traditional patrol method is proposed,that is using unmanned aerial vehicles for autonomous patrol.This system decomposes patrol tasks into different nodes,uses GPS positioning system for navigation,uses lidar for real-time SLAM mapping obstacle detection algorithm,and uses D*algorithm to plan a better path to avoid obstacles when obstacles are found.The experiment results show that the system can effectively avoid obstacles autonomously and complete patrol tasks.It provides a new idea for the current patrol problem,and promotes the process of the robot's application in solving practical problems.