Lidar-based UAV Indoor Navigation And Obstacle Avoidance Technology

With the development of robotics and various sensors,the miniaturized quadrotor UAV has attracted widespread attention at home and abroad,and its flight scene has gradually migrated from outdoor to indoor environment.Due to the small and complex indoor environment,the volume and load of the drone are greatly limited.In addition,it is difficult to obtain GPS signals indoors,and GPS systems cannot be used to locate quad-rotor drones.Therefore,indoor navigation of quad-rotor drone technology has become a research hotspot.Based on this,this article builds a set of indoor quad-rotor drone platforms,and designs and implements a lidar-based indoor navigation and obstacle avoidance system.Using this system,the quad-rotor drone platform can perform autonomous flight indoors.The main research contents of this article are as follows:First of all,for the indoor application scenario,a set of four-rotor unmanned aerial vehicle flight platform is designed and constructed,and the hardware and software components are introduced respectively.With the airborne computer as the core,the flight controller,indoor navigation system and ground control station Connect in series and establish communication between the various systems.Secondly,the motion state of the quad-rotor UAV is described,the dynamic model is established,and the simulation model of the quad-rotor UAV is established based on the dynamic model.The model was used to analyze and analyze the attitude and position of the quadrotor drone in detail,and the cascade PID control algorithm used in it was simulated to verify the effectiveness of the algorithm.Then,the external control system of the quadrotor drone was established through the ROS operating system.The onboard computer was used to control the quadrotor drone externally.The Gazebo simulator was used to simulate different flight modes.In the flight test using real aircraft,it was proved that the external control system can effectively control the quadrotor drone.Subsequently,the principles of two indoor laser SLAM algorithms were studied.Through a comparative analysis of their mapping effects,the better-performing Cartographer SLAM algorithm was used to position the quadrotor drone in the absence of GPS signals estimate.After that,the obstacle avoidance algorithm of the quadrotor UAV was researched,and the simulation verification was performed with MATLAB to verify its feasibility.Finally,the real flight test of the indoor navigation system was performed using a quadrotor drone,and the effectiveness of the obstacle avoidance system was verified in the Gazebo simulation environment.Practice has proved that the quadrotor UAV flight platform designed in this paper has the ability to fly in indoor GPS-free environments.