基于光流定位的室内无人机自主避障研究

Study on autonomous obstacle avoidance of indoor UAV based on optical flow positioning

无人机的研究逐步成为当今的热点,尤其是旋翼无人机,其具有空中悬停、机动性好等优势,适合在低空环境中执行侦察及目标捕捉等任务。因而成了各大高校的研究对象。文章以一架小型四旋翼无人机为平台,设计了无人机在无GPS定位情况下,通过光流定位模块及飞控接收信息,进而利用激光测距实现无人机室内自主避障。

The research of UAV has gradually become a hot spot,especially the rotor UAV,which has the advantages of hovering in the air and good mobility,and is suitable for reconnaissance and target acquisition in low altitude environment.Therefore,it has become the research object of universities.In this paper,a small four rotor UAV is used as the platform to design a UAV.In the case of GPS positioning,the UAV can receive information through optical flow positioning module and flight control,and then realize autonomous obstacle avoidance indoor by laser ranging.