摘要
随着无人机应用领域的不断扩大,无人机对周围环境感知的需求逐渐加大,激光雷达技术的应用成为无人机研究领域的重要发展趋势。为解决无人机在飞行过程中周围环境复杂导致现场定位信号较差的问题,基于三维激光雷达,结合大疆无人机的Onboard SDK技术,设计机载激光点云采集系统以及激光点云处理算法。为了降低激光采集系统的操作难度,设计避障算法,在飞行既定路线的同时结合激光点云进行避障飞行。利用激光点云SLAM算法,实现了无人机对周围环境的三维建模,以达到无人机对周围环境感知的目的,并通过实际测试验证了所提方法的有效性。
With the continuous expansion of the unmanned aerial vehicle(UAV)application field,the demand of UAV for the surrounding environment perception is increasing gradually.The application of lidar technology has become an important development trend in the UAV research field.An airborne laser point cloud acquisition system and a laser point cloud processing algorithm are designed based on 3D lidar and in combination of the Onboard SDK technology of DJI UAV,so as to solve the difficulty of poor field positioning signal caused by the complex surrounding environment of UAV throughout its flight process.The obstacle avoidance algorithm is designed to reduce the operation difficulty of laser acquisition system and avoid obstacles by combining the laser point cloud while flying on the established route.The 3D modelling of the UAV for its surrounding environment is realized by means of the laser⁃point cloud SLAM algorithm to achieve the purpose of UAV′s perception of the surrounding environment.The effectiveness of the proposed method is verified by the actual test.
作者
赵猛
姚凯
杨国栋
何煊
梁自泽
翟永杰
ZHAO Meng;YAO Kai;YANG Guodong;HE Xuan;LIANG Zize;ZHAI Yongjie(Department of Automation,North China Electric Power University,Baoding 071003,China;Luohe Power Supply Company,State Grid Henan Electric Power Company,Luohe 462000,China;State key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China)
出处
《现代电子技术》
北大核心
2020年第14期42-47,共6页
Modern Electronics Technique
基金
国家自然科学基金(61773160)
国家自然科学基金(U1713224)
河北省自然科学基金资助项目(F2017502016)。
