Application of Genetic Algorithm in Plant Protection UAV Control System
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摘要: 以无人机飞行控制系统为研究对象，通过对植保无人机的应用进行分析，提出一种双闭环控制方式的植保无人机飞行控制系统。由于作业需求，植保无人机飞行轨迹应根据作业状态进行不断调整，有效避开飞行航线中的障碍物，因此控制系统中兼容一种基于遗传算法的植保无人机飞行避障算法。仿真实验表明：植保无人机在飞行过程中能够有效进行单障碍及多障碍的规避，避障过程存在较小的误差，不会对植保无人机的作业状态产生影响；不同飞行速度对无人机的避障会产生不同程度的误差影响，速度越高，误差越大。Abstract: This paper takes the UAV flight control system as the research object, through the analysis of the application of agricultural plant protection UAV, puts forward a kind of double closed-loop control mode of plant protection UAV flight control system, because of the operation requirements, the flight trajectory of plant protection UAV is required to be continuously adjusted according to the operation state, effectively avoid the obstacles in the flight route, so the control system is compatible A flight obstacle avoidance algorithm for plant protection UAV Based on genetic algorithm. Through the analysis of simulation experiments, the UAV can effectively avoid single obstacle and multiple obstacles in the flight process. There is a small error in the obstacle avoidance process, which will not affect the operation state of the UAV. At the same time, the simulation experimental data show that the different flight speeds of the plant protection UAV have different degrees of error impact on the obstacle avoidance of the UAV. The higher the speed is, the greater the error in the obstacle avoidance process.
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