基于模糊控制的循迹无人机研究

Research on tracking UAV based on fuzzy control

为了完成四轴飞行器的自主循迹飞行,文章对飞行器采用级联控制,通过机器视觉OpenMV模块,以FreeRTOS作为其操作系统,通过OpenMV模块获取地面图像,并对采集到的图像进行灰度和二值化处理,针对二值化后出现的噪点,采用了腐蚀膨胀处理来补齐图像的缺陷,过滤图像中的噪点,再通过线性回归得到飞行引导线,最终得到四轴飞行器相对于路径的角度误差和距离误差,最后通过串级模糊PID控制器来控制四轴飞行器对地面黑线的循迹飞行。

This article used the machine vision OpenMV module to complete the autonomous tracking flight of a four-axis aircraft.The aircraft adopts cascaded control,uses FreeRTOS as its operating system,obtains ground images through the OpenMV module,and performs grayscale and binarization processing on the images.In view of the noise appearing in the binary image,the corrosion expansion process is used to fill the defects of the image and filter the noise in the image,and obtain the flight guide line through linear regression,and finally get the angle error of the quadcopter relative to the path.The distance error is finally controlled by the cascade fuzzy PID controller to control the tracking flight of the quadcopter to the ground black line.