低空旋翼无人机全景视觉障碍物感知关键技术研究  

Research on Key Technologies of Omnidirectional Vision Obstacle Perception in Low-Altitude Rotorcraft UAVs

作　　者：姜晓艳[1] 杜金平 吴晓飞[1] 都鑫[1] 白俊平[1] 滑洁[1] 张国华[1] JIANG Xiaoyan;DU Jinping;WU Xiaofei;DU Xin;BAI Junping;HUA Jie;ZHANG Guohua(Hebei Institute of Mechanical and Electrical Technology,Xingtai,Hebei Province,054000 China)

机构地区：[1]河北机电职业技术学院,河北邢台054000

出　　处：《科技资讯》2024年第20期81-84,共4页Science & Technology Information

基　　金：2023年度河北省高等学校科学研究青年基金项目“低空旋翼无人机全景视觉感知系统研究”(项目编号:QN2023041)。

摘　　要：旋翼无人机以灵活性和高效性的特点被广泛应用于植保、空中测绘、搜救等任务。但在这些任务中,复杂的、未知的环境往往导致无人机时刻面临各类障碍物的威胁。针对低空旋翼无人机在未知户外环境中的避障任务,总结了当前主流的基于全景视觉技术的全向障碍物感知中的关键技术,从无人机姿态感知、3D环境感知、目标感知、障碍物感知等方面展开详细说明,指出避障技术发展的制约因素,并讨论了其发展趋势。With the characteristics of flexibility and efficiency,low-altitude rotorcraft unmanned aerial vehicles(UAVs)are widely used in plant protection,aerial mapping,search and rescue and other tasks.However,in these tasks,the environment is often complex and unknown,resulting in the threat of various obstacles.Aiming at the ob⁃stacle avoidance task of low-altitute UAVs in unknown outdoor environment,this paper summarizes the key tech⁃nologies of omnidirectional obstacle perception based on Omnidirectional Vision technology,elaborates from UAV attitude perception,3D environment perception,target perception,obstacle perception and other aspects,points out the key factors restricting the development of obstacle avoidance technology,and discusses its development trend.

关 键 词：无人机 全景视觉 障碍物感知 避障 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]