摘要
四旋翼无人机是一种具有运动性能好、体积小、重量轻、结构新颖、环境友好(相对不易对周围造成伤害)等特点的无人机,在军事、民用及科研方面都具有很大的价值。Paparazzi是一个软硬件全开源的项目,始于2003年,旨在建立一个强大、自主的自动驾驶系统。文中首先介绍了Paparazzi Lisa/M 2.0与地面控制系统,然后在此基础上通过实际制作四旋翼无人机系统,针对分析研发过程中需要注意的问题以及关键步骤,成功制作了四旋翼无人机,并且完成了一系列的分析与测试。利用地面控制系统的导航控制能让四旋翼无人机完成自主导航、悬停和降落等一系列任务,并详细学习了路径规划控制的设计与仿真。通过仿真结果显示,Paparazzi Lisa/M 2.0与地面控制系统结合对四旋翼无人机进行路径规划控制的有效性和准确度,可以用于四旋翼无人机的路径规划指挥。
The four rotor Unmanned Aerial Vehicle （UAV） is of characteristics such as good movement performance, small size, light weight, novel structure, and friendly environment （ not easy to cause damage to the surrounding）, and with great value in the military, civil and scientific research. Paparazzi is a fully open source project of software and hardware, which began in 2003, aiming to build, a strong, autonomous and automatic driving system. In this paper, the Paparazzi Lisa/M 2.0 and ground control system is introduced firstly, and then on the basis of the actual production of quad rotor UAV system for analysis of problems that need to be paid attention to in the development process and key steps, and the four rotor UAV is made successfully, and a series of analysis and test are completed. Use of the navigation control of ground control system can make four rotor UAV achieve a series of tasks such as autonomous navigation, hovering and landing ,detailed study of the design and simulation of path planning control. The simulation shows that the effectiveness and accuracy in Paparazzi Lisa/M 2.0 combined with ground control system for four rotor UAV route planning control ,can be used for four rotor path planning of UAV command.
出处
《计算机技术与发展》
2016年第5期197-200,共4页
Computer Technology and Development
基金
国家创新训练计划项目(SZDG2014015)
教育部归国留学人员启动基金项目(BJ213022)
关键词
无人机
数据传输
自主飞行
路径规划
Unmanned Aerial Vehicles （UAV）
data transmission
autonomous flight
path planning
