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自动巡航以及避障一直是多旋翼无人机的技术瓶颈,同时也是让一架无人机实现安全化、智能化的核心。本文以F550型六旋翼飞机作为研究对象,主要研究了以apm开源飞控为控制平台的基于HC-sr04超声波传感器、光流型传感器和M8n型GPS模块提供位置高度数据帮助飞机进行避障以及自动巡航。也对整架飞机算法结构进行了优化,提高运算速度,简单修改了飞机软硬件的连接装配。在进行初步调参后使得飞机具有能够手动控制飞行以及导航自动巡航的能力。再加装超声波测距模块以及光流传感器模块后使飞机具有定高能力以及预判障碍物的能力。综合以后使其能适应较为复杂的环境。让飞机飞行智能化;让自动飞行安全化。
Automatic cruise and obstacle avoidance has been the technical bottleneck of multi-rotor UAVs, and it is also the core of making a UAV safer and more intelligent. In this paper, F550 six-rotor aircraft as the research object, mainly to apm open-source flight control as the control platform based on HC-sr04 ultrasonic sensors, optical flow sensors and M8n-type GPS module to provide position height data to help aircraft avoid obstacles and automatic cruise. The entire aircraft algorithm structure is also optimized to improve computing speed, simply modify the aircraft hardware and software connection assembly. The ability to manually pilot flights as well as automate cruise control after making a preliminary reference. Then install the ultrasonic ranging module and the optical flow sensor module to make the aircraft have the ability to set high and predict obstacles. Integrated so that it can adapt to the more complex environment. Let the aircraft fly intelligent; let the automatic flight safety.