基于ROS的自主多旋翼飞行器视觉导航系统  

A visual navigation control system for autonomous multi-rotor aircraft

作　　者：王国胜[1] 郭峰[1] 吕强[1] 张洋[1] 

机构地区：[1]装甲兵工程学院控制工程系,北京100072

出　　处：《科技导报》2016年第18期275-278,共4页Science & Technology Review

摘　　要：针对在GPS信号缺失的环境下多旋翼飞行器的定位和自主飞行问题,构建了一个基于视觉导航的多旋翼无人飞行器控制系统。采用目前流行的pixhawk飞行控制模块和单目视觉定位算法,基于机器人操作系统(ROS)构建了通信网络系统,并选用一个低功耗的机载主控计算机实时地在板运行该系统。测试结果表明,搭建的无人飞行器平台能实现较精确的视觉定位和自主飞行。Aimming at multi- rotor aircraft localization and autonomous fight in GPS- denied environments, we describe a multi- rotor unmanned aircraft control system based on visual navigation. Our system is equipped with a popular pixhawk flight control module and monocular visual localization algorithm, and a communication network system is established based on robot operating system（ROS）. We use an onboard computer with low power consumption which deals with all the necessary real-time operations for the system.. Test results show that our multi-rotor aircraft platform can achieve accurate visual localization and autonomous flight.

关 键 词：多旋翼飞行器 视觉导航 机器人操作系统 自主飞行 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]