摘要
针对小型四旋翼无人机无GPS环境下的定点悬停问题,设计了一种改进的基于计算机视觉的控制方案,并搭建小型四旋翼无人机飞行试验平台。在光流工作的同时,引入超声波模块为无人机提供高度信息,使得光流传感器始终在固定高度工作,提高光流测量的准确度。试验结果表明:该方案的定点悬停效果较好。
Aiming at micro quadrotor＇ s fixed hovering without GPS, an improved control scheme based on computer vision was proposed in this paper and the micro quadrotor＇ s flight test platform was built. When the optical flow worked, an ultrasonic module was introduced to provide height information to the quadrotor and ensure optical flow sensor working at a fixed height and improve accuracy of the measurement. The experimen- tal result shows that, the proposed scheme achieves better performance.
作者
张午阳
章伟
宋芳
赵友男
ZHANG Wu-yang;ZHANG Wei;SONG Fang;ZHAO You-nan(College of Mechanical Engineering, Shanghai University of Engineering Scienc)
出处
《化工自动化及仪表》
CAS
2018年第4期289-293,共5页
Control and Instruments in Chemical Industry
基金
国家自然科学基金项目(51505273)
