IARC第7代任務中定位與目標跟蹤方法研究
發(fā)布時間：2018-10-09 21:26
【摘要】：空中機器人在航拍、運輸、巡檢、搜救等領域有廣泛應用,其定位、導航和目標跟蹤技術也成為研究熱點。國際空中機器人大賽是最具挑戰(zhàn)性的無人機賽事之一,大賽目的是推動空中機器人技術發(fā)展,其任務都是當前無人機技術所不能達到的,參與和研究比賽任務有重要意義,本文在大賽第7代任務背景下展開,主要工作和創(chuàng)新如下所述。1.根據(jù)比賽任務,搭建了智能四旋翼平臺。平臺利用機載電腦實現(xiàn)視覺定位、目標跟蹤、避障等上層功能,針對遙控和程序控制的切換問題,設計了手自動切換系統(tǒng),系統(tǒng)由STM32單片機接收遙控器和機載電腦指令,根據(jù)遙控器手自動切換檔位,將相應遙控或程序控制指令傳給下層飛控。該四旋翼平臺既能應用于比賽場景,也可用于巡檢、救援等其他場合。2.基于單目視覺和IMU開發(fā)了定位與懸停系統(tǒng)。該系統(tǒng)利用光流法對飛行器運動速度進行估計,并結合卡爾曼濾波算法實現(xiàn)了光流速度與IMU信息的數(shù)據(jù)融合,提高了飛行器速度估計的精度和平滑性,同時基于速度信息設計了位置速度串級控制器,實現(xiàn)了飛行器的視覺懸停。此外,針對光流法積分存在累計誤差的問題,提出了一種基于比賽場地方格和張正友相機標定法的視覺定位方案,詳細闡述了方案原理,并進行了可行性分析。3.針對單目標識別、跟蹤與觸碰問題,提出了一種綜合解決方案。該方案利用CamShift算法進行單目標識別,利用PID控制器進行目標跟蹤,并采用基于開關控制的高度控制器實現(xiàn)觸碰。在AR.Drone四旋翼上進行了實驗,驗證了算法的有效性,實現(xiàn)了比賽內容中的單目標驅趕目標。4.針對比賽場地存在多個運動目標的情況,設計了基于移動目標顏色特征及最近鄰算法的多目標檢測器與跟蹤器,提出了基于移動目標顏色區(qū)域形狀特征的目標朝向檢測算法。實驗表明了算法的有效性。相關實驗視頻在優(yōu)酷頻道(http://i.youku.com/u/UMzMwMDg3NTAlMg==/videos)中,可下載瀏覽。
[Abstract]:Aerial robots are widely used in aerial photography, transportation, inspection, search and rescue, and so on. The international aerial robot competition is one of the most challenging UAV competitions. The purpose of the competition is to promote the development of aerial robot technology, and its tasks are beyond the reach of the current UAV technology. It is of great significance to participate in and study the competition tasks. This paper is carried out in the context of the 7th generation task, the main work and innovation described below. 1. According to the task of the competition, the intelligent four-rotor platform is built. The platform uses the airborne computer to realize the upper functions such as visual positioning, target tracking, obstacle avoidance and so on. Aiming at the switching problem of remote control and program control, a hand-automatic switching system is designed. The system receives remote control and airborne computer instructions by STM32 microcontroller. According to the remote control hand automatically switch gear, the corresponding remote control or program control instructions to the lower flight control. The four-rotor platform can be used not only in competition scenes, but also in inspection, rescue and other occasions. 2. A positioning and hovering system is developed based on monocular vision and IMU. The system uses the optical flow method to estimate the velocity of the vehicle, and combines the Kalman filter algorithm to realize the data fusion of the optical flow velocity and the IMU information, which improves the accuracy and smoothness of the vehicle velocity estimation. At the same time, the position speed cascade controller is designed based on the velocity information, which realizes the visual hovering of the aircraft. In addition, aiming at the problem of accumulative error in the integration of optical flow method, this paper presents a visual positioning scheme based on the grid of competition site and the calibration method of Zhang Zhengyou camera. The principle of the scheme is described in detail, and the feasibility analysis is made. Aiming at the problem of single target recognition, tracking and touching, a comprehensive solution is proposed. In this scheme, CamShift algorithm is used for single target recognition, PID controller is used for target tracking, and height controller based on switch control is used to realize contact. Experiments are carried out on the AR.Drone four-rotor, the validity of the algorithm is verified, and the single-target drive target .4in the content of the competition is realized. In view of the situation that there are many moving targets in the competition field, a multi-target detector and tracker based on moving object color feature and nearest neighbor algorithm is designed, and a target orientation detection algorithm based on the shape feature of moving target color region is proposed. Experiments show the effectiveness of the algorithm. The video about the experiment is available for download on Youku Channel (http://i.youku.com/u/UMzMwMDg3NTAlMg==/videos).
【學位授予單位】：浙江大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP391.41
[Abstract]:Aerial robots are widely used in aerial photography, transportation, inspection, search and rescue, and so on. The international aerial robot competition is one of the most challenging UAV competitions. The purpose of the competition is to promote the development of aerial robot technology, and its tasks are beyond the reach of the current UAV technology. It is of great significance to participate in and study the competition tasks. This paper is carried out in the context of the 7th generation task, the main work and innovation described below. 1. According to the task of the competition, the intelligent four-rotor platform is built. The platform uses the airborne computer to realize the upper functions such as visual positioning, target tracking, obstacle avoidance and so on. Aiming at the switching problem of remote control and program control, a hand-automatic switching system is designed. The system receives remote control and airborne computer instructions by STM32 microcontroller. According to the remote control hand automatically switch gear, the corresponding remote control or program control instructions to the lower flight control. The four-rotor platform can be used not only in competition scenes, but also in inspection, rescue and other occasions. 2. A positioning and hovering system is developed based on monocular vision and IMU. The system uses the optical flow method to estimate the velocity of the vehicle, and combines the Kalman filter algorithm to realize the data fusion of the optical flow velocity and the IMU information, which improves the accuracy and smoothness of the vehicle velocity estimation. At the same time, the position speed cascade controller is designed based on the velocity information, which realizes the visual hovering of the aircraft. In addition, aiming at the problem of accumulative error in the integration of optical flow method, this paper presents a visual positioning scheme based on the grid of competition site and the calibration method of Zhang Zhengyou camera. The principle of the scheme is described in detail, and the feasibility analysis is made. Aiming at the problem of single target recognition, tracking and touching, a comprehensive solution is proposed. In this scheme, CamShift algorithm is used for single target recognition, PID controller is used for target tracking, and height controller based on switch control is used to realize contact. Experiments are carried out on the AR.Drone four-rotor, the validity of the algorithm is verified, and the single-target drive target .4in the content of the competition is realized. In view of the situation that there are many moving targets in the competition field, a multi-target detector and tracker based on moving object color feature and nearest neighbor algorithm is designed, and a target orientation detection algorithm based on the shape feature of moving target color region is proposed. Experiments show the effectiveness of the algorithm. The video about the experiment is available for download on Youku Channel (http://i.youku.com/u/UMzMwMDg3NTAlMg==/videos).
【學位授予單位】：浙江大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP391.41
【參考文獻】
相關期刊論文 前3條
1 曹美會;鮮斌;張旭;文曦;;基于視覺的四旋翼無人機自主定位與控制系統(tǒng)[J];信息與控制;2015年02期
2 張梁;徐錦法;;基于雙目視覺的無人飛行器目標跟蹤與定位[J];計算機工程與應用;2014年24期
3 倪磊;曾慶化;莊f，
本文編號：2260849
本文鏈接：http://sikaile.net/kejilunwen/ruanjiangongchenglunwen/2260849.html
最近更新
教材專著
