智能车与四旋翼飞行器相融合的导航避障系统的设计
|
摘要
智能车与四旋翼飞行器相融合的导航避障系统的设计是以MK60FX512VLQ15微控制器作为智能车控制单元,STM32F767IGT作为飞行平台图像处理单元。系统首先通过四旋翼飞行器上红外摄像头,采集图像信息,送至处理单元提取并处理,再通过NRF2.4G无线模块传输至智能车主控器,与智能车自身陀螺仪数据进行融合,根据结果判断智能车与目标的相对角度,并通过智能车自身的超声波测距、编码器等模块获取车体自身的运行环境与状态,同时调整运行速度与运行方向,最终实现导航避障的功能。系统运行平稳,速度及转向调节灵活,导航避障功能完整实现。
The navigation and obstacle avoidance system combining smart car and quadrotor aircraft takes MK60 FX512 VLQ15 microcontroller as the intelligent car control unit and STM32 F767 IGT as the image processing unit of flying platform. This system first collects image information through the infrared camera equipped in the quadrotor aircraft, and sends it to the processing unit for extraction and processing. Then this system transmits the information to the smart car master through the NRF2.4 G wireless module and integrates it with the smart car's own gyroscope data. In this way, the system is able to tell the relative angle of the smart car with the target according to the result, obtain the operating environment and state of the car body through its own ultrasonic ranging, encoder and other modules, and adjust the car's speed and direction so as to avoid obstacles. The system is smooth in operation, flexible in adjusting speed and direction, and is fully capable of avoiding obstacles.
The navigation and obstacle avoidance system combining smart car and quadrotor aircraft takes MK60 FX512 VLQ15 microcontroller as the intelligent car control unit and STM32 F767 IGT as the image processing unit of flying platform. This system first collects image information through the infrared camera equipped in the quadrotor aircraft, and sends it to the processing unit for extraction and processing. Then this system transmits the information to the smart car master through the NRF2.4 G wireless module and integrates it with the smart car's own gyroscope data. In this way, the system is able to tell the relative angle of the smart car with the target according to the result, obtain the operating environment and state of the car body through its own ultrasonic ranging, encoder and other modules, and adjust the car's speed and direction so as to avoid obstacles. The system is smooth in operation, flexible in adjusting speed and direction, and is fully capable of avoiding obstacles.
引文
[1] 聂博文,马宏绪,王剑,等.微小型四旋翼飞行器的研究现状与关键技术[J].电光与控制,2007,14(6):113-117.
[2] 张磊.智能小车控制系统的设计[D].长春:吉林大学,2016.
[3] 宿敬亚,樊鹏辉,蔡开元.四旋翼飞行器的非线性PID姿态控制[J].北京航空航天大学学报,2011(9):1054-1058.
[4] 冷雪锋.基于PID的STM32智能小车机器人的设计[J].自动化技术与应用,2016(10):35-38.
[5] 谭国律,汪昱君.程序设计中的循环机制[J].上饶师范学院学报,2012(3):95-99.
[6] 梅真,赵熙临.基于增量式PID智能车调速系统的设计[J].湖北工业大学学报,2015(2):72-76.
[7] 余莎丽,刘小龙,周健民.基于模糊PID与算法控制智能小车速度[J].自动化与仪器仪表,2016(2):76-77.
[2] 张磊.智能小车控制系统的设计[D].长春:吉林大学,2016.
[3] 宿敬亚,樊鹏辉,蔡开元.四旋翼飞行器的非线性PID姿态控制[J].北京航空航天大学学报,2011(9):1054-1058.
[4] 冷雪锋.基于PID的STM32智能小车机器人的设计[J].自动化技术与应用,2016(10):35-38.
[5] 谭国律,汪昱君.程序设计中的循环机制[J].上饶师范学院学报,2012(3):95-99.
[6] 梅真,赵熙临.基于增量式PID智能车调速系统的设计[J].湖北工业大学学报,2015(2):72-76.
[7] 余莎丽,刘小龙,周健民.基于模糊PID与算法控制智能小车速度[J].自动化与仪器仪表,2016(2):76-77.