基于Octomap的无人机室内导航可飞行区域分析  

Flying Area Analysis of the UAV Indoor Navigation Based on Octomap

作　　者：王允华[1] 李建胜[1] 

机构地区：[1]信息工程大学,河南郑州450001

出　　处：《测绘与空间地理信息》2017年第2期95-97,共3页Geomatics & Spatial Information Technology

基　　金：863-新技术探索研究(2015AA7123050C)资助

摘　　要：无人机在室内飞行时要实现从一点A到另一点B,首先要知道周围环境中的可飞行区域才能实现导航。鉴于此,本文首先利用3ds Max建立室内环境三维模型;然后经过Binvox和Binvox2bt进行数据转换得到Octomap文件;最后经过Octomap处理可得到八叉树网格地图用来分析无人机在室内环境下的可飞行区域。该实验结果清楚地显示了可飞行区域,对无人机室内导航的进一步研究有较大的应用价值。Usually, the Unmanned Aerial Vehicle （UAV） is notable to fly from point A to point B unless it has identified the flying area among the indoor surroundings. Accordingly,we built the 3D model of the indoor surroundings firstly; then we converted the 3D data to a Binvox file by running the Binvox and created an ecomap file by running the tool ＂Binvox2bt＂ ; at last, we abtained the octree map that can be used to analyze the flying area of the UAV indoor navigation. The experiment demonstrated that the flying area could be recognized clearly. In practice, this work is of great significance in studying the UAV indoor navigation.

关 键 词：Octomap 八叉树 数据转换 可飞行区域 

分 类 号：P228[天文地球—大地测量学与测量工程]