基于消失点的四旋翼飞行器走廊自主导航

针对现有消失点估计算法中存在的不适合实际工程应用的现象，提出了一种新的消失点估计算法——VQME算法，该算法的正确性、鲁棒性与实时性得到了验证，并且验证了其在工程应用中的可行性.同时针对四旋翼飞行器的欠驱动、多耦合等特性，提出了一种级联的多变量RBF神经网络PID自适应控制方法，运用该控制方法和以消失点为目标点的导航策略，最终实现了四旋翼飞行器在走廊中的自主导航.

Four Rotor Aircraft′s Autonomous Navigation in Corridor Based on Vanish Point

Aiming at the phenomenon that the existed vanish point estimating methods are not suitable for the real engineering application， a new VQME algorithm to estimate vanish point was proposed. This algorithm was proved to be reasonable， robust and real time and at last the feasibility was proved in engineering applications. At the same time aiming at the characteristic of four rotor aircraft's under actuated and multi coupled， a cascade multivariate RBF neural network PID adaptive control method was proposed too. With this adaptive control method and the stratagem of making the vanish point as the target， the autonomous navigation in corridor was implemented.