基于光流平衡法的无人直升机视觉障碍回避  

Vision Obstacle Avoidance for Unmanned Helicopter Using Optical Flow Balance

作　　者：杨文凤[1] 宋攀[1] 谢强[1] 

机构地区：[1]中国飞行试验研究院,陕西西安710089

出　　处：《中国科技信息》2014年第1期47-49,共3页China Science and Technology Information

摘　　要：自主障碍检测与回避是无人直升机贴地飞行时保障其生存性的一项关键技术。鉴于此,研究利用机器视觉的原理,采用仿生学的光流避障方法,通过单目前视摄像机获取图像,解算出光流速度场,进而利用光流平衡法对无人直升机在虚拟三维场景下贴地飞行时的障碍回避进行了实时仿真。仿真结果表明基于光流平衡法的无人直升机障碍回避方法具有一定的可行性。The self-control problem of unmanned helicopter to detect and avoid obstacles in nap- of-the-earth（NOE） played an important role in the survival of unmanned helicopter. The principle of the use of computer vision was studied using optical flow to achieve a biomimetic reactive navigation system, in this system, the optical flow was calculated from the images captured by the unmanned helicopter on board camera, and the balance strategy of optical flow was used to the obstacle avoidance real-time simulation of unmanned helicopter in a virtual urban environment. The experiment results show that the obstacle avoidance based on optical flow balancefor unmanned helicopter is feasible.

关 键 词：贴地飞行 视觉制导 光流平衡法 障碍回避 

分 类 号：V279[航空宇航科学与技术—飞行器设计]