无人机视觉定位与避障子系统研究.docxVIP

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网址：电邮：hrbengineer@163.com圆园20年第3期

无人机视觉定位与避障子系统研究

林涛1,2

（1援天津科技大学机械工程学院，天津300222；天津航天长征火箭制造有限公司，天津300462）

摘要：以无人机视觉定位与避障系统为研究对象，利用单目视觉定位与红外线传感器相结合的方式，准确识别障碍物，然后利用RGB模型进行图像处理，将图像二次分割，得到图像的轮廓曲线边缘，结合红外测距的数据结果，确定障碍物的位姿

摘要：以无人机视觉定位与避障系统为研究对象，利用单目视觉定位与红外线传感器相结合的方式，准确识别障碍物，然后利用RGB模型进行图像处理，将图像二次分割，得到图像的轮廓曲线边缘，结合红外测距的数据结果，确定障碍物的位姿等信息。建立碰撞圆锥模型，实现无人机以特征点为圆心、危险距离为半径的绕行路线，实现避障。实验证明，AABB视界区碰撞模型能精确判断无人机飞行路径中的避障，提高无人机飞行效率。

关键词：无人机；视觉定位；单目视觉；避障

中图分类号:V279.2 文献标志码:粤 文章编号：员园园圆原圆猿猿猿（圆园20）03原园069原园3

（1.SchoolofMechanicalEngineering,TianjinUniversityofScienceandTechnology,Tianjin300222,China;2.TianjinAerospaceLongMarchRocketManufacturingCo.,Ltd.,Tianjin300462,China）

Abstract:IntheresearchofUAVvisualpositioningandobstaclea