扑翼机器人机载视觉避障系统设计OA北大核心CSTPCD

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.