农用四旋翼无人机轨迹规划设计--基于计算机深度学习  

Path Planning and Design of Agricultural Quadrotor UAV--Based on Deep Learning

作　　者：杨旭[1] Yang Xu(Henan Polytechnic Institute,Nanyang 473000,China)

机构地区：[1]河南工业职业技术学院,河南南阳473000

出　　处：《农机化研究》2023年第4期52-56,共5页Journal of Agricultural Mechanization Research

基　　金：教育部科技发展中心第三批“云数融合科教创新”基金项目(2018A10004)。

摘　　要：介绍了农用无人机的工作原理,建立了其动力学模型,并基于人工蜂群的深度学习算法对农用四旋翼无人机轨迹规划进行了深入研究,确定采用线性自抗扰控制方法实现对无人机的轨迹控制。实验结果表明:农用四旋翼无人机可以平滑地从起点运行到了终点,很好地避开了途中的障碍物,证明了系统的可靠性和稳定性。It firstly introduces the working principle of agricultural UAV and establishes its dynamic model.Then,it deeply studied the trajectory planning of agricultural quadrotor UAV based on the deep learning algorithm of artificial bee colony.Finally,it adopted the linear active disturbance rejection control method to realize the trajectory control of UAV.The experimental results show that the agricultural quadrotor UAV can run smoothly from the starting point to the end point,and avoid the obstacles on the way,which proves the reliability and stability of the system.

关 键 词：农用四旋翼无人机 轨迹规划 人工蜂群 线性自抗扰控制 

分 类 号：S252[农业科学—农业机械化工程]