Unmanned aerial vehicle autonomous obstacle avoidance method and system based on single-line laser radar

Abstract

The invention discloses an unmanned aerial vehicle autonomous obstacle avoidance method based on a single-line laser radar. The method comprises the following steps: calculating the spatial distance between an unmanned aerial vehicle and an obstacle through combining the time interval of laser beam transmitting and receiving of the laser radar with the light velocity, presetting the obstacle avoidance flight modes of the unmanned aerial vehicle in different distance ranges, clustering the data returned by the laser radar through a nearest neighbor clustering method, and judging the surface continuity of the obstacle. Autonomous obstacle avoidance in the flight process of the unmanned aerial vehicle is achieved, the inspection efficiency of the unmanned aerial vehicle is improved, and real-time communication between the laser radar and the unmanned aerial vehicle is achieved.

Description

technical field [0001] The present invention relates to the field of radar communication technology and the field of UAV remote real-time monitoring technology, in particular to a method and system for autonomous obstacle avoidance of UAV based on single-line laser radar. Background technique [0002] UAV sensors are divided into active sensors and passive sensors. Active sensors perceive objects through the energy emitted by themselves, and can obtain real-time and accurate depth information, and are less affected by the outside world, mainly including laser radar, millimeter-wave radar, ultrasonic sensors, etc.; passive sensors have low power consumption, large amount of information It is fast and large, but its information is mainly obtained from the outside world and is greatly affected by the external environment. It mainly includes stereo vision, infrared cameras, and visible light cameras. [0003] At present, lidar is generally used in environmental perception resea...

AI Technical Summary

Problems solved by technology

[0005] However, the current single-line laser radar on the market is to modify the drone, and the single-line laser is directly fixed on the drone by physical means. This method does not realize the communication between the single-line laser load and the drone. Unable to control and transmit data to single-line laser

Images