Perception and avoidance method and system based on visual servoing

Abstract

The invention provides a visual servo-based sense-and-avoid system. The visual servo-based sense-and-avoid system includes an unmanned aerial vehicle, an image acquisition system, a visual servo control system and a navigation positioning system; the visual servo system includes a visual target detection and tracking module, a security envelope module and a visual servo controller. The invention also provides a visual servo-based sense-and-avoid method. With the visual servo-based sense-and-avoid method and system of the invention adopted, rapid sensing for surrounding airspace environment can be realized; avoidance maneuvering for space flight targets can be completed independently and autonomously without intervention and operation of ground operation personnel required under a situation that no distance measuring sensor is installed. The visual servo-based sense-and-avoid method and system of the invention have the advantages of low load requirements, high control precision and high intelligence, and can improve the airspace flight safety capacity of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle navigation and control, in particular to a visual servo-based perception and avoidance method and system. Background technique [0002] Recently, with the increasingly strong demand for UAVs in military applications and civilian fields, coupled with the further opening of my country's civil airspace, the future airspace will present a situation where various types of functional UAVs and manned aircraft will share and integrate airspace , the airspace will become increasingly dense. In this case, the UAV's Sense and Avoid (SAA) capability will become a prerequisite for entering the airspace and ensuring the safety of UAV flight. UAV perception and avoidance means that UAVs use airborne sensors or ground surveillance systems to monitor the airspace flight environment and obtain the status of flying targets, plan evasive paths for targets with potential collision threats, and complete evasive m...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a visual servo-based perception and avoidance method and system to solve the problems of existing sensors with large volume and high power consumption, which are not conducive to the integrated application in light and small UAV systems. The invention can realize the rapid perception of the surrounding airspace environment, establish a visual feedback control model through the angle safety envelope, and control the UAV to complete the perception and avoidance of airspace targets

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