无人机的激光雷达自主巡逻飞行器系统设计  

System Design of Autonomous Patrol UAV Based on Lidar

作　　者：赖武刚[1] 刘宗汶 姬凯飞 许璐璐 张博 Lai Wugang;Liu Zongwen;Ji Kaifei;Xu Lulu;Zhang Bo(College of Information Science and Technology,Chengdu University of Technology,Chengdu 610059,China;College of Nuclear Technology and Automation Engineering,Chengdu University of Technology)

机构地区：[1]成都理工大学信息科学与技术学院,成都610059 [2]成都理工大学核技术与自动化工程学院

出　　处：《单片机与嵌入式系统应用》2020年第5期37-40,共4页Microcontrollers & Embedded Systems

基　　金：2018年国家级大学生创新创业训练计划项目201810616071。

摘　　要：针对目前社会对治安问题的高度关注和与之受限的人力物力因素,本文提出了一种非传统的巡逻方式,即使用无人机进行自主巡逻。该系统将巡逻任务分解为不同的节点,通过GPS定位系统进行导航,使用激光雷达进行实时SLAM建图的障碍物检测算法,发现障碍物时使用D*算法规划出一条躲避障碍物的较优路径。实验结果表明,该系统能够有效自主避障、完成巡逻任务,为当前的巡逻问题提供了一种新思路,促进了机器人应用于实际解决现实问题的进程.Aiming at the current society's high attention to safety issues and its limited human and material factors,a non-traditional patrol method is proposed,that is using unmanned aerial vehicles for autonomous patrol.This system decomposes patrol tasks into different nodes,uses GPS positioning system for navigation,uses lidar for real-time SLAM mapping obstacle detection algorithm,and uses D*algorithm to plan a better path to avoid obstacles when obstacles are found.The experiment results show that the system can effectively avoid obstacles autonomously and complete patrol tasks.It provides a new idea for the current patrol problem,and promotes the process of the robot's application in solving practical problems.

关 键 词：无人机 激光雷达 GPS SLAM 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]