南京航空航天大学学报（英文版）2024，Vol.41Issue(1)：97-106,10.DOI:10.16356/j.1005-1120.2024.01.008
扑翼机器人机载视觉避障系统设计
Design of an On-Board Vision-Based Obstacle Avoidance System for Flapping-Wing Robots
摘要
Abstract
The flapping-wing robot(FWR)is a kind of high-biomimetic aerial vehicle that can perform military reconnaissance and civil monitoring missions.When performing these missions,obstacle avoidance is a necessary function to ensure safety of FWRs.In this paper,an autonomous monocular-vision-based obstacle avoidance system is designed for FWRs,where all the image processing computations are implemented by using an on-board computer.In this system,the weight of the on-board computer is reduced to 48 g so that the FWR could fly properly.The workflow of the system can be divided into the following steps.First,the image acquisition module captures videos of the surrounding environment.Second,the on-board computer calculates the rudder angle and turning direction by processing the optical flow information from the first-person view.Finally,the flight control board receives the calculated results and controls the FWR to avoid obstacles.A ground station performs real-time monitoring of the FWR flight process,and experimental results demonstrate the effectiveness of the obstacle avoidance system designed in this paper.关键词
扑翼机器人/视觉/避障/机载处理器/光流Key words
flapping-wing robots/vision/obstacle avoidance/on-board computer/optical flow分类
信息技术与安全科学引用本文复制引用
付强,张祚卿,刘胜南,吴晓阳,贺威..扑翼机器人机载视觉避障系统设计[J].南京航空航天大学学报（英文版）,2024,41(1):97-106,10.基金项目
This work was supported by the Na-tional Natural Science Foundation of China(Nos.62225304,61933001,62173031,U20A20225),the Interdisciplinary Research Project for Young Teachers of Fundamental Re-search Funds for the Central Universities(No.FRF-IDRY-22-029),and the Beijing Top Discipline for Artificial Intelli-gent Science and Engineering,University of Science and Technology Beijing. （Nos.62225304,61933001,62173031,U20A20225）
