摘要
在地形复杂的区域,为了提高农林植保的作业效率,提高作业过程的安全性,四旋翼飞行器被应用到了农业生产作业过程中。为了提高四旋翼飞行器的自主导航水平,将机器视觉技术和无线定位技术引入到了飞行器控制系统的设计上,通过两种定位方式的联合,有效提高了飞行器导航精度。采用软件仿真的方式对避障系统进行了测试,测试过程中设置了多种障碍物,并按照采用反馈系统和不采用反馈系统的形式对飞行器避障行为分别进行了测试,结果表明:采用反馈系统后,飞行器可以更加准确地躲避障碍物,完成自主导航飞行。
In order to improve the efficiency and safety of agricultural and forestry plant protection in the area with complex terrain, the four rotor aircraft is applied to the agricultural production process. In order to improve the autonomous navigation level of the four rotor aircraft, the machine vision technology and wireless positioning technology are introduced into the design of the aircraft control system. Through the combination of the two positioning methods, it effectively improves the navigation accuracy of the aircraft. Software simulation is used to test the obstacle avoidance system.During the test, a variety of obstacles are set up.According to the form of feedback system and no feedback system, the obstacle avoidance behavior of the aircraft is tested respectively.From the test results, the aircraft can avoid obstacles more accurately and complete autonomous navigation after using the feedback system.
作者
杨玉霞
陈留亮
Yang Yuxia;Chen Liuliang(Jiyuan Vocational and Technical College,Jiyuan 454650,China;Henan Zhongyuan Special Steel Equipment Manufacturing Co.,Ltd,Jiyuan 454600,China)
出处
《农机化研究》
北大核心
2022年第5期101-104,109,共5页
Journal of Agricultural Mechanization Research
基金
河南高等教育教学改革研究与实践项目(2017SJGLX160)。
关键词
四旋翼飞行器
机器视觉
无线定位
避障系统
自主导航
four rotor aircraft
machine vision
wireless positioning
obstacle avoidance system
autonomous navigation
