Autonomous Obstacle Navigating System of Quadrotor UAV Based on Vision Positioning and Cascade Control Algorithm
Hao Guo, Heqing Liu, Jun Zhou, Haibo Du, Linan Wang · 2021
To solve the problem of unstable obstacle circling process of UAV, an autonomous obstacle circling system of four-rotor UAV based on visual positioning and cascade control algorithm is designed in this paper. The system consists of a vision positioning module, an operation processing unit and a flight control module. The vision positioning module includes a monocular camera module and a laser ranging unit. After the relative position between the obstacle and the UAV is solved by the operation processing unit, the flight control module controls the four-rotor UAV to fly around the obstacle with a certain distance and complete the autonomous obstacle circling. Finally, an experiment of autonomous obstacle circumnavigation of UAV was designed based on the quadrotor platform, and the feasibility of the proposed obstacle circumnavigation scheme was verified.