论文部分内容阅读
自主避障是无人直升机(UH)在复杂未知环境中执行飞行任务所必须的能力。针对未知环境下UH避障飞行问题,提出了一种新的三维实时避障方法,通过将三维激光雷达探测视野划分成若干不同半径的扇形柱区和等角度分布的直方柱区,结合雷达探测数据判断障碍物分布情况,UH根据避障方法执行相应的规避动作来实现避障飞行。同时提出一种基于CATIA三维建模软件二次开发的三维仿真方法,该方法可以对未知的飞行环境进行三维建模,结合避障方法实现UH在其中的真实避障飞行模拟,并利用该仿真方法验证了三维避障方法的可行性。
Autonomous obstacle avoidance is the ability of unmanned helicopters (UH) to perform missions in complex and unknown environments. Aiming at the problem of UH obstacle avoidance flight in unknown environment, a new three-dimensional real-time obstacle avoidance method is proposed. By dividing the field of view of 3D lidar into a number of fan-shaped column areas with different radii and an equiangularly distributed straight- Data to determine the distribution of obstacles, UH according to obstacle avoidance method to implement the corresponding evasive action to achieve obstacle avoidance flight. At the same time, a 3D simulation method based on secondary development of CATIA 3D modeling software is proposed, which can simulate the unknown flight environment in 3D and combine with obstacle avoidance method to realize the real obstacle avoidance flight simulation in UH. The method verifies the feasibility of three-dimensional obstacle avoidance method.