基于激光雷达的多旋翼飞行器实时避障系统

A Real-Time Obstacle Avoidance System for MultiCopter Based on Laser Radar

摘要:

针对多旋翼飞行器的障碍物规避问题,提出一种基于激光雷达的自主飞行多旋翼飞行器避障系统,实现多旋翼飞行器自主飞行的实时避障；该避障系统针对静态、低速运动障碍物,综合飞行器本体姿态、速度、加速度等状态信息,建立基于改进势场法的避障模型和算法；在机器人操作系统(ROS,Robot Operating System)平台进行该避障系统的软件实现,其通过串口与飞控进行通信,完成多旋翼飞行器的自主避障飞行；同时,为了使该系统能在强光环境正常工作,在不影响系统实时性的前提下,对激光雷达的干扰问题进行优化设计；大量实验表明:该避障算法计算量小,能够保证避障系统的实时性,在机体慢速以及低速运动(机体与障碍物之间的相对运动速度小于等于3 m/s)的场景中能够正确检测范围6 m内,并迅速规避障碍物。

Abstract:

In order to solve the problem of obstacle avoidance of the multicopter,an obstacle avoidance system is studied based on autonomous flight of laser radar vehicle, which can realize the real-time obstacle avoidance for autonomous flight of the multicopter. According to avoid the static or low speed obstacle, an improved potential field algorithm is proposed, which considers the attitude angle, velocity and acceleration of the multicopter and runs in the Robot Operating System (ROS). This algorithm plays the important role in the obstacle avoidance system, as it can generate the flight control commands for the flight control system to complete obstacle. Then in order to work in normal light environment, a laser radar interference optimization of the obstacle avoidance system is also studied in the paper in detail. At last, a large number of experiments are carried out. The results show that the proposed obstacle avoidance system can quickly avoid the obstacle in the range of 6 meters with the low computational cost.