Research On Trajectory Planning And Obstacle Avoidance For UAVs Of Geophysical Exploration

At present,aviation detection technology has been widely used in defense military,disaster prediction,resource detection,geological exploration and traffic communications and other industries.In recent years,the research and application of unmanned aerial vehicle(UAV)technology is becoming more and more popular.Aviation detection usually requires pre planning and recording of aircraft routes.At the same time,how to avoid obstacles such as branches and high voltage lines on flight routes when using UAV for aerial detection is also an important research topic.In recent years,with the rapid development of mobile Internet technology and the popularity of intelligent mobile terminals,the control mode integrated by intelligent mobile terminals and UAV control platform has great impetus to the development of UAV control technology.Based on the Android mobile platform,this paper has achieved the planning and recording of the flight path in the aviation detection,and studied the detection technology of obstacle based on vision.First of all,this paper summarizes and analyzes the domestic and foreign research status of trajectory planning recording software and UAV visual obstacle avoidance technology.Then,analyzes the functional requirements and performance requirements of the system,designs the function modules of the system and the overall structure,and introduces the architecture of Android system and development process,completed the configuration of the Android system development environment,while the Open CV computer vision library and the function of each module was introduced.Open CV visual Library transplantation and loading methods in Android applications is discussed in detail.Secondly,discusses the specific implementation method of map control module and track record and management module,the realization of display and control the map using Baidu map SDK and navigation positioning technology,according to the pre-set trajectory detection line by latitude and longitude coordinates,and real-time recording of aircraft flight trajectory,compared with the preset trajectory,when deviating fromthe preset the trajectory of a range will have voice and text reminder,track using SQLite light database to store and record the preset track.Again,by reading the relevant literature,based on the Android system's operation ability and actual demand for air detection,the obstacle detection algorithm based on feature detection and matching,the Android device comes with the camera as the image acquisition equipment,and the image preprocessing algorithm is studied,discussed in detail the principle of SIFT feature detection the algorithm and its implementation steps in Android system.Finally,the system debug on the tablet computer equipped with Android system is carried out to test and verify the track planning and recording function and obstacle detection algorithm.The experimental results show that the system can fulfill the expected function and meet the needs of aviation detection.Based on the development model of Android platform,this paper provides a new idea for the research of trajectory planning and recording and the research of unmanned aerial vehicle obstacle detection technology.