Research On Autonomous Obstacle Avoidance Technology Of Plant Protection UAV Based On Lidar

In recent years,with the development of science and technology,the domestic multi rotor UAV industry has developed rapidly.Due to the characteristics of terrain distribution in China,it is difficult to control UAV in these areas by traditional manual methods.So many domestic enterprises are developing more intelligent UAV.Autonomous obstacle avoidance technology is the key technology of intelligent UAV,which has a good research value now.The main research work is as follows:1)According to the characteristics of two-dimensional lidar,the distance information and reflection intensity information were introduced into the clustering algorithm to identify obstacles.Due to the calculation and hardware problems,an improved Kalman filter algorithm was proposed to estimate the state of obstacles;2)This paper analyzed the history of active obstacle avoidance,the related methods and theories,and then put forward a control scheme combining PID control and fuzzy control.In order to reduce the error in the operation process,the position deviation was transformed into the angle deviation;3)Simulation and verification,including the state identification of obstacles,the path tracking algorithm of path planning and the simulation of steering control strategy.And built a UAV verification platform,including the overall design of UAV,and finally verify the effectiveness of the method through the physical.Figure 62;Table 7;Reference 62...