四旋翼无人机巡航飞行模式下的自主避障方案设计  

Design of autonomous obstacle avoidance scheme for four-rotor UAV in cruise flight mode

作　　者：樊宝安 曾桂根[2] FAN Bao⁃an;ZENG Gui⁃gen(Nanjing University of Posts and Telecommunications School of Communication and Information Engineering,Nanjing 210003,China;Nanjing University of Posts and Telecommunications National Engineering Research Center for Communications and Network Technology,Nanjing 210003,China)

机构地区：[1]南京邮电大学通信与信息工程学院,江苏南京210003 [2]南京邮电大学通信与网络技术国家工程研究中心,江苏南京210003

出　　处：《电子设计工程》2020年第2期180-184,共5页Electronic Design Engineering

摘　　要：为了提高四旋翼无人机在巡航飞行过程中的安全性,保证无人机能够顺利完成预先设定的飞行任务,设计了一种无人机在巡航飞行过程中能够自主避障的避障系统。该系统由Arduino Mega2560单片机和HC_SR04超声波测距模块组成,通过HC_SR04超声波测距模块实时检测无人机与巡航飞行过程中所遇到的障碍物之间的距离,当两者之间的距离小于系统设置的安全距离时,由Arduino避障控制器控制无人机向后上方飞行,从而绕过障碍物。结果表明,该避障系统在巡航飞行过程中能够有效避开障碍物,满足特定的飞行任务要求。In order to improve the safety of four-rotor UAV in the process of cruise flight and ensure that the UAV can successfully complete the pre-set flight tasks,a obstacle avoidance system that the UAV can autonomously avoid obstacles in the process of cruise flight is designed.The system consists of the Arduino Mega2560 microcontroller and HC_SR04 ultrasonic ranging module,ultrasonic ranging module real-time detection drones and cruise through HC_SR04 obstacles encountered in the process of flight distance,when the distance between the two is less than the safe distance of system Settings,by Arduino obstacle avoidance controller control of unmanned aerial vehicle(UAV)flight above the back,to bypass obstacles.The results show that the obstacle avoidance system can effectively avoid obstacles during the cruise flight and meet the specific flight mission requirements.

关 键 词：无人机 巡航飞行 超声波模块 避障系统 

分 类 号：TN964.3[电子电信—信号与信息处理]