第22卷
第8期
2014年8月
文章编号
1004-924X(2014)08-2232-10
光学精密工程
Optics and Precision Engineering
基于四轴飞行器的单目视觉避障算法
赵海，陈星池“，王家亮，曾若凡
（东北大学信息科学与工程学院，辽宁沈阳110819）
Vol. 22No. 8
Aug.2014
cas-Kanade)光流与平移光流融合的单目视觉避障算法并给出了这一方法的数学推导过程。在配有320 pixelX240 pixel 摄像头的ArduCopter四轴飞行器上开发和实现了该算法，并进行了多次飞行测试验证了算法的可行性与有效性。在飞行器自主飞行过程中，采用消失点进行导航，并结合神经网络PID对其进行飞行自适应控制。与单目即时定位与地图构建(SLAM)避障算法、Horn一Schunck光流避障算法以及图像分割避障算法比较了算法的实时性和准确性，结果显示：
本算法具有实时性好和准确率高的优点，可以满足实际工程中四轴飞行器的实时避障要求。关键词：四轴飞行器；单目视觉，避障算法金字塔LK算法；平移光流；融合光流
中图分类号：TP242.62;V249
文献标识码：A
dol;10.3788/OPE,20142208.2232
Obstacleavoidancealgorithmbasedonmonocular
visionforquad-rotorhelicopter
ZHAO Hai,CHEN Xing-chi',WANG Jia-liang,ZENG Ruo-fan
(School of Information Science&Engineering,NortheasternUniversity,Shenyang110o04,China)
Correspondingauthor,E-mail;chenringchi999@126.com
Abstract: For bad real-time ability and poor accuracy rate of the monocular obstacle avoidance algo rithm for quad-rotor helicopters in practical engineering applications, a new monocular obstacle avoid-ance algorithm based on Pyramid Lucas-Kanade optical flow and moving optical flow was proposed and the mathematical derivation process of the algorithm was given. The algorithm was established and implemented on a ArduCopter quad-rotor helicopter equipped with a 320 pixelX 240 pixel camera and many experiments was done to verify the feasibility and effectiveness of the algorithm. In the process of vehicle autonomous flight, the vanishing points were used for navigation and a neural net PID was used to control flighting adaptively.As compared with the monocular Synchronous Location Mapping(SLAM) obstacle avoidance algorithm, Horn-Schunck optical flow obstacle svoidance algorithm and the image segmentation obstacle avoidance aigorithm, the proposed algorithm shows better real-time ability and accuracy rate, and can meet the requirements of obstacle avoidance in real time for quad-ro-torhelicopters.
Key words: quad-rotor helicopter; monocular vision;obstacle avoidance algorithm; pyramid LK algo
rithm;translation optical flow;fusionoptical flow
收稿日期：2014-01-07：修订日期：2014-01-30.
基金项目：国家科技支撑计划资助项目（No.2012BAH82F04)