摘要
针对传统配送机器人在配送过程中出现的路径偏差,与顾客发生碰撞等问题,设计了一种基于电磁循迹的配送无人机。使用四轴飞行器作为主体,利用LC谐振电路作为传感器检测电磁信号,进行路径跟踪,避免了周围环境对配送无人机循迹过程的影响。无人机采用基于四元数的姿态解算算法进行姿态解算,并通过改进的串级模糊PID控制算法控制无人机的飞行速度和方向,提高了配送无人机的响应速度和稳定性,无人机能够更好的完成配送任务,具有应用和推广价值。
To solve the problems of the traditional robot for delivering, such as path deviation and collision, the unmanned aerial vehicle(UAV)is designed for delivery, which is based on electromagnetic tracking. The UAV is the major component, and an LC resonance circuit is used to detect the electromagnetic signal and track the path, which can avoid the influence of the surrounding environment in tracking. In addition, the attitude of the UAV can be obtained by the attitude algorithm, and the improved cascade fuzzy PID control algorithm is adopted to control speed and direction, which improves the response speed and stability of the UAV. In this way, UAV has good application and promotion value in meal delivery, and it can complete the delivery task better.
作者
吴建锋
徐振宇
秦会斌
Wu Jianfeng;Xu Zhenyu;Qin Huibin(College of Information Science&Technology,Zhejiang Shuren University,Hangzhou Zhejiang 310015,China;College of Electronics and Information,Hangzhou Dianzi University,Hangzhou Zhejiang 310018,China)
出处
《传感技术学报》
CAS
CSCD
北大核心
2021年第7期880-884,共5页
Chinese Journal of Sensors and Actuators
基金
浙江树人大学科研计划项目(2021R0011)。
