基于ROS的多旋翼飛行器飛行控制系統(tǒng)的開發(fā)與設(shè)計(jì)

梅武軍

(浙江大學(xué) 臺州研究院，浙江 臺州 318000)

基于ROS的多旋翼飛行器飛行控制系統(tǒng)的開發(fā)與設(shè)計(jì)

梅武軍

(浙江大學(xué) 臺州研究院，浙江 臺州 318000)

小型飛行器路線制導(dǎo)和控制系統(tǒng)的改良升級主要以更精準(zhǔn)的飛行器定位和遙控功能為核心技術(shù)評判指標(biāo)，但飛行器飛行的復(fù)雜環(huán)境影響和不確定性干擾因素，會對飛行器控制者的信號接收/傳導(dǎo)造成不可預(yù)期的影響，致使無人機(jī)在飛行過程的定位偏差造成剮蹭或碰撞事件，嚴(yán)重者甚至影響到控制信號的實(shí)時(shí)傳輸，造成失控和航跡偏移現(xiàn)象。文中針對在GPS信號缺失環(huán)境下的多旋翼飛行器的系統(tǒng)定位和自主飛行控制問題，設(shè)計(jì)開發(fā)出一種基于視覺導(dǎo)航構(gòu)建的中央自控系統(tǒng)，其設(shè)計(jì)引入新式Pixhawk模塊作為核心算法，協(xié)同ROS飛行系統(tǒng)，共同建立穩(wěn)定低耗的通信導(dǎo)航網(wǎng)絡(luò)，實(shí)現(xiàn)多旋翼無人機(jī)自主飛行控制系統(tǒng)和自主航跡修正。

多旋翼飛行器；ROS系統(tǒng)；視覺導(dǎo)航；Pixhawk模塊與定位算法；航跡控制與自主飛行

AbstractThe improved upgrade of the small aircraft route guidance and control system is mainly based on the more accurate aircraft positioning and remote control function as the core technology evaluation index, but the complex environment and uncertain disturbance factors of the aircraft flight will results in unpredictable effects of the reception / transmission of the signal of aircraft controller, resulting in unmanned aerial vehicles in the flight process positioning bias caused by cutting or collision events, serious and even affect the real-time transmission of control signals, resulting in out of control and track migration phenomenon. In this paper, a central control system based on visual navigation is designed and developed for the system location and autonomous flight control of multi-rotor aircraft in the absence of GPS signal. The new Pixhawk module is designed as the core algorithm, cooperative ROS flight system to establish a stable and low-cost communication and navigation network, and achieve multi-rotor unmatched autonomous flight control system and autonomous track correction.

Keywordsmulti-rotor aircraft; ROS system; visual navigation; Pixhawk module and positioning algorithm; track control and autonomous flight

人工智能化的快速發(fā)展促進(jìn)了無人機(jī)飛行控制系統(tǒng)的智能化開發(fā)進(jìn)程,也使無人飛行器在不可視環(huán)境下的垂直起降穩(wěn)定性、機(jī)動性和航跡規(guī)劃技術(shù)成為研究的熱門方向[1-3]。具備高精度和自動化控制性能的無人飛行器，將承擔(dān)更多的密封環(huán)境先導(dǎo)探測和廢棄、危險(xiǎn)建筑的偵查任務(wù)，并將更多用睛民用。因此，多旋翼無人機(jī)成為新技術(shù)開發(fā)的首選。然而，現(xiàn)有的多旋翼飛行器技術(shù)均采用衛(wèi)星GPS進(jìn)行定位與數(shù)據(jù)轉(zhuǎn)發(fā)通信。……