PIXHAWK开源飞控的多旋翼无人机避障技术研究

针对当前无人机的安全问题,提出一种基于PIXHAWK开源飞控的无人避障控制方法.在PIXHAWK开源飞控中添加了超声波传感器、激光测距仪、电磁传感器,并对不同传感器的信息进行融合,依据无人机与障碍物的距离及遥控器的通道值,解算出无人机远离障碍物的姿态信息,实现多旋翼无人机的避障飞行.实验结果证明,该系统具有价格便宜、控制精度高、安全性能可靠的特点,在无人机安全飞行领域具有一定的应用价值.

Research of Obstacle Avoidance for Multiple Rotor UAV Based on PIXHAWK

Aiming at the security problem of current UAV,an unmanned obstacle avoidance control method based on PIXHAWK opensource flight control is proposed.Ultrasonic sensors,laser rangefinder,electromagnetic sensor are added in the PIXHAWK open-source flight control according to different sensor information fusion.The distance of the obstacle and the remote control channel value,attitude information of UAV are calculated from the obstacle avoidance,and the flight obstacle avoidance of multi rotor UAV is achieved..The experiment results show that the system has the characteristics of low cost,high control accuracy and reliable security performance.It has certain impetus in the field of UAV flight safety.