航空工程进展2025，Vol.16Issue(5)：91-102,12.DOI:10.16615/j.cnki.1674-8190.2025.05.09
微小型无人机室内目标自主搜索方案研究
Research on autonomous indoor target search solution for MAVs
摘要
Abstract
To accomplish the task of searching for specific indoor targets with a drone,even when system power consumption and platform weight are constrained,a low-cost,low-power,small-size drone design for autono-mous indoor target search is proposed.Firstly,a suitable UAV hardware architecture based on constraints is cho-sen,and the controller is designed using saturation control.Besides,a simple sensor combination comprising three TF-Luna laser sensors is employed to gather environmental information.In the obstacle avoidance algorithm de-sign,the avoidance logic of the Bug algorithm is referenced,achieving the design of the UAV's autonomous cruis-ing mode.Then,the image acquisition chip is used to obtain real-time image information in the drone's flight direc-tion.The chip integrated with the YOLO-v2 algorithm detects target information in the images.Finally,a central region following strategy is employed to achieve real-time tracking of the target.The simulation and actual flight of the autonomous cruise and target detection tracking tasks are completed at a speed of 0.5 m/s in a 6 m×6 m Simu-link simulation environment and real-world scenarios.The feasibility of the proposed design scheme is proved.关键词
室内环境/自主导航/YOLO/BUG算法/微小型无人机Key words
indoor environment/autonomous navigation/YOLO/BUG algorithm/micro unmanned aerial vehi-cles(MAVs)分类
航空航天引用本文复制引用
唐东洋,田科源,韩庆,刘星..微小型无人机室内目标自主搜索方案研究[J].航空工程进展,2025,16(5):91-102,12.基金项目
JKW项目(06010-5120210346) （06010-5120210346）
