Method and system for realizing autonomous obstacle avoidance of rotor craft in unmanned aerial vehicle field

Abstract

A method and system for realizing autonomous obstacle avoidance of a rotorcraft in an unmanned aerial vehicle field, and the method comprises the following steps: arranging a plurality of obstacle avoidance sensors on an unmanned aerial vehicle for measuring the distance between the unmanned aerial vehicle and an obstacle; the obstacle avoidance distance of the rotorcraft is set through the aircraft flight control system; calculating the expected speed of the unmanned aerial vehicle based on the detection distance and the obstacle avoidance distance of the obstacle avoidance sensor; the expected acceleration is obtained through the expected speed, the expected attitude inclination angle is obtained through small disturbance hypothesis, and then the attitude controller controls the rotorcraft. According to the invention, a four-direction obstacle avoidance safety strategy is provided, stable hovering of the unmanned aerial vehicle can be effectively realized after the obstacle avoidance sensor detects the front obstacle in combination with an obstacle avoidance algorithm, the unmanned aerial vehicle is prevented from colliding with the obstacle, and thus the safety of the unmanned aerial vehicle is improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a method and a system for autonomous obstacle avoidance by a UAV field rotorcraft. Background technique [0002] With the development of science and technology, rotary-wing unmanned aerial vehicles have been developed more and more. In the military field, such as battlefield situation reconnaissance, target tracking, small target strike, etc. UAVs are widely used in civil fields such as aerial photography, security, oil and gas pipeline inspection, bridge inspection, power inspection and other fields. Due to the wide application of UAVs, there are high requirements for the safety, reliability and stability of UAVs. UAVs often work in harsh environments. During the flight process, there are often encounters in front of UAVs. When reaching an obstacle, if you cannot avoid the obstacle in time or hover in front of the obstacle, it will lead to the crash...

AI Technical Summary

Problems solved by technology

Due to the wide application of UAVs, there are high requirements for the safety, reliability and stability of UAVs. UAVs often work in harsh environments. During the flight, UAVs often encounter If you cannot avoid the obstacle in time or hover in front of the obstacle, it will lead to the crash of the UAV, which seriously threatens the flight safety of the UAV.

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