Micro aerial vehicle autonomous flight control in tunnel environment
Chuang Shang, Lei Cheng, Qiuyue Yu, Xin Wang, Rui Peng, Yang Chen, Huaiyu Wu, Quanmin Zhu · 2017
In order to solve the problem of unmanned aerial vehicle (UAV) tunnel autonomous flight in GPS-Denied environment, this paper designs the ultrasonic environment perception system and introduces the algorithm of three-dimensional (3D) wall-following navigation. Firstly, the framework of aerial vehicle system and the ultrasonic environment perception system are presented. Then three-dimensional (3D) wall-following navigation algorithm is combined with PID algorithm according to the dynamic model of aerial vehicle. Finally, extensive experiments are carried out in the tunnel where the optimal control parameters are obtained. The experimental results indicate that the UAV can fly in the center of tunnel smoothly and realize autonomous flight steadily in a confined space.