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基于光流的六旋翼飞行器悬停控制

DOI: 10.3969/j.issn.1005-3026.2015.10.003, PP. 1378-1383

Keywords: 六旋翼飞行器,惯性光流,非线性控制器,动态映射,辅助悬停控制系统

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Abstract:

提出了一种应用惯性光流实现六旋翼飞行器悬停的非线性控制器.为克服外界因素的影响,提出一种辅助悬停控制系统.首先由球面相机获取目标平面的图像,并通过动态映射实现目标点到相机镜头表面的映射;然后比对连续时刻的图像获取目标点的平移光流;最后,使用分散平移光流作为控制器的反馈信息,实现飞行器的稳定悬停.目标平面为室内多纹理的平坦地面,共完成10次测试.实际飞行测试表明,飞行器在水平与高度方向的悬停位置误差为±5cm,验证了该非线性控制器与辅助悬停控制系统的可行性.

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