无人机物资运输与智能避障系统设计

Design of UAV Material Transportation and Intelligent Obstacle Avoidance System

该文在开源飞控的基础上,探讨多旋翼无人机在多传感器的配合下实现自主避障功能。传感器与飞控之间通过Mavlink协议进行沟通与数据传输,通过人工势场法建立数学模型对传感器反馈的数据进行综合处理,经过系列假设与运算找到多旋翼障碍物与航标点对多旋翼作用的平衡位置,同时找出对于多旋翼规避障碍的影响参数,最后通过Dronekit-python工具对多旋翼路线进行标定。

This paper on the basis of open source flight control,this paper discusses the realization of autonomous obstacle avoidance function of multi-rotor with the cooperation of multi-sensor.The sensor and flight control communicate and transmit data through the Mavlink protocol,and then use the artificial potential field method to establish a mathematical model to comprehensively process the data fed back by the sensor.Through a series of assumptions and calculations,find the balance position of the multi-rotor obstacle and the beacon point on the multi-rotor action,and find out the influence parameters for the multi-rotor obstacle avoidance.Finally,use the tool Dronekit-python to calibrate the multi-rotor route.