南京航空航天大学学报（英文版）2021，Vol.38Issue(2)：206-215,10.
基于光流法和模糊控制的扑翼飞行器避障研究
Obstacle Avoidance of Flapping-Wing Air Vehicles Based on Optical Flow and Fuzzy Control
摘要
Abstract
The flapping-wing air vehicle(FWAV)is a kind of bio-inspired robot whose wings can flap up and down like bird and insect wings. A vision-based obstacle avoidance method for FWAVs is proposed in this paper. First,the Farneback algorithm is used to calculate the optical flow field of the first-view video frames taken by the on-board image transmission camera. Based on the optical flow information,a fuzzy obstacle avoidance controller is then designed to generate the FWAV steering commands. Experimental results show that the proposed obstacle avoidance method can accurately identify obstacles and achieve obstacle avoidance for FWAVs.关键词
稠密光流/单目视觉/避障/扑翼飞行器/模糊控制Key words
dense optical flow/monocular vision/obstacle avoidance/flapping-wing air vehicle/fuzzy control分类
信息技术与安全科学引用本文复制引用
付强,王进,宫乐,王靖元,贺威..基于光流法和模糊控制的扑翼飞行器避障研究[J].南京航空航天大学学报（英文版）,2021,38(2):206-215,10.基金项目
This work was supported in part by the National Natural Science Foundation of China(Nos.61803025,62073031),the Interdisciplinary Research Proj-ect for Young Teachers of USTB(Fundamental Research Funds for the Central Universities)(No.FRF-IDRY-19-010),and the Beijing Top Discipline for Artificial Intelligent Science and Engineering,University of Science and Tech-nology Beijing. （Nos.61803025,62073031）
