Unmanned aerial vehicle bionic intelligent obstacle-avoiding method based on light streams

Abstract

The invention discloses an unmanned aerial vehicle bionic intelligent obstacle-avoiding method based on light streams and belongs to the field of artificial intelligence and computer vision. Obstacle-avoiding flight of an unmanned aerial vehicle is realized through combination of software and hardware. The method comprises the specific steps that an image sequence is captured through a monocular camera carried on the unmanned aerial vehicle, an LK (Lucas Kanade) method is used for calculating a light stream field according to a front frame image and a rear frame image, and noise light streams are filtered; each image is divided into an edge, a left middle part and a right middle part, and whether large obstacles exist on the left side and the right side or not is judged based on an SVM classifier; the sum of TTC in all columns is calculated, free sections and obstacle sections are calibrated and interpolated, and a maximum free communicating section is obtained; a translation amount and a rotation amount are obtained in combination with a left and right light stream balancing strategy, and therefore the unmanned aerial vehicle is controlled to fly avoiding obstacles. By means of the method, real-time obstacle-avoiding flight of the unmanned aerial vehicle in an unknown disordered environment can be realized.

Description

technical field [0001] The invention relates to a monocular vision-based optical flow-based intelligent bionic obstacle avoidance method for unmanned aerial vehicles, and in particular belongs to the fields of artificial intelligence and computer vision. Background technique [0002] A UAV is a power-driven aircraft that can autonomously control flight according to a predefined trajectory or be controlled in real time by remote control. It is more and more widely used in military and urban applications, but in practical applications, most of them rely on real-time remote control by professional operators. The cost of use remains high, the response speed is slow, and it is limited by the transmission quality of communication channels. Therefore, there is an urgent need for UAVs to have the ability to autonomously avoid obstacles to identify and avoid obstacles, so that UAVs can reach the target position in time and accurately, and complete the predetermined function. The eff...

AI Technical Summary

Problems solved by technology

At present, the behavior patterns and neural structures of flying insects have been clearly understood, and some attempts have been made on simulation platforms and ground mobile robots. The application of drones is still in its infancy, and in-depth research is urgently needed. There are still great challenges and research prospects, and it has great scientific significance

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