| 基于ROS的自主多旋翼飞行器视觉导航系统 |
| |
| 引用本文： | 王国胜,郭峰,吕强,张洋.基于ROS的自主多旋翼飞行器视觉导航系统[J].科技导报(北京),2016,34(18):275-278. |
| |
| 作者姓名： | 王国胜 郭峰 吕强 张洋 |
| |
| 作者单位： | 装甲兵工程学院控制工程系, 北京 100072 |
| |
| 摘 要： | 针对在GPS信号缺失的环境下多旋翼飞行器的定位和自主飞行问题，构建了一个基于视觉导航的多旋翼无人飞行器控制系统。采用目前流行的pixhawk飞行控制模块和单目视觉定位算法，基于机器人操作系统（ROS）构建了通信网络系统，并选用一个低功耗的机载主控计算机实时地在板运行该系统。测试结果表明，搭建的无人飞行器平台能实现较精确的视觉定位和自主飞行。
|
| 关 键 词： | 多旋翼飞行器 视觉导航 机器人操作系统 自主飞行 |
| 收稿时间： | 2015-07-21 |
A visual navigation control system for autonomous multi-rotor aircraft |
| |
| WANG Guosheng,GUO Feng,L&#,Qiang,ZHANG Yang.A visual navigation control system for autonomous multi-rotor aircraft[J].Science & Technology Review,2016,34(18):275-278. |
| |
| Authors: | WANG Guosheng GUO Feng L&# Qiang ZHANG Yang |
| |
| Institution: | Department of Control Engineering, Academy of Armored Forces Engineering, Beijing 100072, China |
| |
| Abstract: | Aimming at multi-rotor aircraft localization and autonomous fight in GPS-denied environments, we describe a multi-rotor unmanned aircraft control system based on visual navigation. Our system is equipped with a popular pixhawk flight control module and monocular visual localization algorithm, and a communication network system is established based on robot operating system(ROS). We use an onboard computer with low power consumption which deals with all the necessary real-time operations for the system.. Test results show that our multi-rotor aircraft platform can achieve accurate visual localization and autonomous flight. |
| |
| Keywords: | multi-rotor aircraft visual navigation ROS autonomous flight |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《科技导报(北京)》浏览原始摘要信息 |
| 点击此处可从《科技导报(北京)》下载免费的PDF全文 |
|
