农用四轴飞行器避障控制系统设计——基于机器视觉和超声波测距

Design of Obstacle Avoidance Control System for Agricultural Four-axis Vehicle——Base on Machine Vision and Ultrasonic Ranging

摘要: 首先,基于双目视觉和超声波测距介绍了农用四轴飞行器的障碍物感知原理;然后,基于整体框架和飞行器对避障控制系统进行了整体设计;最后,基于机器视觉和超声波测距实现了农用四轴飞行器避障控制系统。实验结果表明:当飞行器和障碍物达到设置距离时,飞行器能够快速进行悬停响应,并能及时进行避障操作,证明了农用四轴飞行器避障控制系统的可行性和有效性。

Abstract: It firstly introduces the obstacle perception principle of agricultural four-axis vehicle from binocular vision and ultrasonic ranging, then designs the overall design of obstacle avoidance control system from the overall framework and aircraft control system, and finally realizes the obstacle avoidance control system of agricultural four-axis vehicle based on machine vision and ultrasonic ranging. The experimental results show that when the vehicle and obstacles reach the set distance, the vehicle can respond to hover quickly and avoid obstacles in time, which proves the feasibility and effectiveness of the obstacle avoidance control system of agricultural four-axis vehicle.