基于立體視覺的無人機感知與規(guī)避研究
發(fā)布時間：2018-10-17 17:24
【摘要】：無人機(Unmanned Aerial Vehicle,UAV)是目前國內(nèi)外的研究熱點。隨著無人機的廣泛使用,無人機的自主安全飛行提出了要求,無人機感知與規(guī)避(Sense and Avoid,SAA)能力是保證無人機進入空域飛行、保障無人機飛行安全的先決條件。輕小型無人機系統(tǒng)因載荷、任務、成本等限制,無法搭載大型感知設備如雷達、激光雷達等,基于視覺傳感器的SAA系統(tǒng)在質(zhì)量、功耗、成本方面的優(yōu)勢使其更易在輕小型系統(tǒng)集成和應用。本文針對輕小型無人機的視覺感覺與規(guī)避進行研究�？紤]單目視覺只能得到目標的二維平面運動信息,本文采用基于立體視覺的感知與規(guī)避技術(shù),實現(xiàn)目標精確感知、可靠威脅評估和障礙物規(guī)避,克服了單目視覺難以獲取目標的深度信息的缺點。本文主要研究工作如下:1.從體系方案、政策標準、技術(shù)研究等方面分析了SAA。系統(tǒng)全面分析了SAA技術(shù)發(fā)展史,SAA技術(shù)研究史。分析了無人機SAA的意義以及各國對無人機SAA技術(shù)研究情況。對無人機SAA進行層次分解和技術(shù)分解,分析了無人機SAA方法。根據(jù)SAA技術(shù)100年發(fā)展史以及基于無人機SAA的研究現(xiàn)狀,提出SAA技術(shù)下一步發(fā)展并對SAA的未來關(guān)鍵技術(shù)進行分析。2.圍繞輕小型無人機的應用特點和能力屬性出發(fā),分析并搭建了一套低成本、低功耗感知與規(guī)避系統(tǒng)。針對小型無人機系統(tǒng)載荷小、飛行速度低等約束,從環(huán)境數(shù)據(jù)感知、機載數(shù)據(jù)處理、障礙規(guī)避控制等方面分別進行等硬件系統(tǒng)設計;針對感知與規(guī)避系統(tǒng)能力要求,對立體視覺感知系統(tǒng)進行建模和標定。3.針對低空無人機環(huán)境復雜多變的特點,設計了多模式無人機感知與規(guī)避算法。針對無人機飛行環(huán)境的不同,無人機在不同空域環(huán)境下不同的遭遇環(huán)境進行相應的建模。在低空環(huán)境,通過重構(gòu)三維環(huán)境,采用UV視差法進行障礙物檢測;在高空環(huán)境,背景相對簡單、空域障礙物多為運動的、微小的、特征點少,采用背景分割與弱小目標檢測算法進行障礙物檢測并通過三角定位法對障礙物進行測距。采用安全包絡法對運動目標進行威脅評估,根據(jù)威脅評估結(jié)果,采用目標規(guī)避點方法對障礙物進行規(guī)避。實驗結(jié)果表明,基于立體視覺的無人機感知與規(guī)避系統(tǒng)能夠?qū)崿F(xiàn)不同空域環(huán)境下的障礙物避撞,保障無人機的飛行安全。
[Abstract]:Unmanned aerial vehicle (Unmanned Aerial Vehicle,UAV) is a research hotspot at home and abroad. With the wide use of UAV, the autonomous safety flight of UAV is required. The ability of UAV to perceive and evade (Sense and Avoid,SAA is the prerequisite to ensure the UAV to fly into airspace and to ensure the UAV flight safety. Because of the limitation of load, task, cost and so on, the light and small UAV system can not carry large sensing equipment such as radar, lidar and so on. The SAA system based on vision sensor has high quality and power consumption. Cost advantages make it easier to integrate and apply in light and small systems. In this paper, the visual perception and avoidance of light and small UAV are studied. Considering that monocular vision can only obtain two-dimensional planar motion information of the target, this paper uses stereo vision based perception and circumvention technology to realize target accurate perception, reliable threat assessment and obstacle avoidance. It overcomes the disadvantage that monocular vision is difficult to obtain depth information of target. The main work of this paper is as follows: 1. This paper analyzes SAA. from the aspects of system scheme, policy standard, technology research and so on. The development history of SAA technology and the history of SAA technology research are systematically analyzed. The significance of UAV SAA and the research of UAV SAA technology are analyzed. The SAA of UAV is decomposed by hierarchical decomposition and technical decomposition, and the SAA method of UAV is analyzed. According to the 100-year history of SAA technology and the research status of UAV SAA, this paper puts forward the next development of SAA technology and analyzes the key technology of SAA in the future. 2. Based on the application characteristics and capability attributes of light and small UAV, a set of low cost, low power sensing and evading system is analyzed and built. Aiming at the small UAV system with small load and low flight speed, the hardware system is designed from the aspects of environmental data perception, airborne data processing, obstacle avoidance control, etc. Modeling and calibration of stereo vision perception system. 3. In view of the complex and changeable environment of low altitude UAV, a multi-mode UAV perception and avoidance algorithm is designed. According to the different flight environment of UAV, the UAV has different encounter environment in different airspace environment. In low altitude environment, by reconstruction of 3D environment, UV parallax method is used to detect obstacles. In high altitude environment, the background is relatively simple, and the obstacles in airspace are mostly moving, small and few feature points. Background segmentation and small and weak target detection algorithms are used to detect obstacles and the distance of obstacles is measured by triangulation. The method of security envelope is used to evaluate the threat of moving target, and according to the result of threat assessment, the method of avoidance point is used to circumvent the obstacle. The experimental results show that the UAV perception and avoidance system based on stereo vision can avoid obstacles in different airspace environment and ensure the flight safety of UAV.
【學位授予單位】：西北工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279
本文編號：2277406
[Abstract]:Unmanned aerial vehicle (Unmanned Aerial Vehicle,UAV) is a research hotspot at home and abroad. With the wide use of UAV, the autonomous safety flight of UAV is required. The ability of UAV to perceive and evade (Sense and Avoid,SAA is the prerequisite to ensure the UAV to fly into airspace and to ensure the UAV flight safety. Because of the limitation of load, task, cost and so on, the light and small UAV system can not carry large sensing equipment such as radar, lidar and so on. The SAA system based on vision sensor has high quality and power consumption. Cost advantages make it easier to integrate and apply in light and small systems. In this paper, the visual perception and avoidance of light and small UAV are studied. Considering that monocular vision can only obtain two-dimensional planar motion information of the target, this paper uses stereo vision based perception and circumvention technology to realize target accurate perception, reliable threat assessment and obstacle avoidance. It overcomes the disadvantage that monocular vision is difficult to obtain depth information of target. The main work of this paper is as follows: 1. This paper analyzes SAA. from the aspects of system scheme, policy standard, technology research and so on. The development history of SAA technology and the history of SAA technology research are systematically analyzed. The significance of UAV SAA and the research of UAV SAA technology are analyzed. The SAA of UAV is decomposed by hierarchical decomposition and technical decomposition, and the SAA method of UAV is analyzed. According to the 100-year history of SAA technology and the research status of UAV SAA, this paper puts forward the next development of SAA technology and analyzes the key technology of SAA in the future. 2. Based on the application characteristics and capability attributes of light and small UAV, a set of low cost, low power sensing and evading system is analyzed and built. Aiming at the small UAV system with small load and low flight speed, the hardware system is designed from the aspects of environmental data perception, airborne data processing, obstacle avoidance control, etc. Modeling and calibration of stereo vision perception system. 3. In view of the complex and changeable environment of low altitude UAV, a multi-mode UAV perception and avoidance algorithm is designed. According to the different flight environment of UAV, the UAV has different encounter environment in different airspace environment. In low altitude environment, by reconstruction of 3D environment, UV parallax method is used to detect obstacles. In high altitude environment, the background is relatively simple, and the obstacles in airspace are mostly moving, small and few feature points. Background segmentation and small and weak target detection algorithms are used to detect obstacles and the distance of obstacles is measured by triangulation. The method of security envelope is used to evaluate the threat of moving target, and according to the result of threat assessment, the method of avoidance point is used to circumvent the obstacle. The experimental results show that the UAV perception and avoidance system based on stereo vision can avoid obstacles in different airspace environment and ensure the flight safety of UAV.
【學位授予單位】：西北工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279
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