Research On Autonomous Flight Technology Of Quadrotor UAV Based On Dynamic Environment

Multirotor unmanned aerial vehicle(UAV)has been developed into a professional communication equipment dedicated to maintaining public safety,national stability and community environmental protection,and has become a partner in people’s daily life.Because of the complexity of the use of occasions,the external requirements for autonomous flight of UAV continue to improve,people gradually pay attention to the research of path planning technology to enhance the autonomous flight technology of UAV.On the one hand,the development of UAV path planning technology improves the reliability and safety of UAV flight,on the other hand,reduces the flight cost by planning reasonable flight route.So the research on UAV path planning technology will bring a lot of benefits for UAV autonomous flight technology.But most of the existing path planning technologies have many problems,such as complex calculation,poor ability to deal with environmental changes and so on.Therefore,this paper discusses the design and implementation of path planning technology for quadrotor UAV.The goal is to design a path planning technology for quadrotor UAV in complex dynamic environment.The main contents of this paper are as follows:Firstly,the components of quadrotor UAV are described in detail from the perspective of system.Through the dynamic analysis of different motion attitude of quadrotor UAV,the flight principle is understood,and the quadrotor UAV model is built on the ROS(Robot Operating System)platform based on the unified robot description format.At the same time,for the realization of simultaneous localization and mapping technology in ROS,combined with the use of RGB-D camera and ORB-SLAM2 algorithm,the design of the overall experimental research plan is finally given.Then,on the premise that the global map information is known,a global path planning method combining A-star algorithm and artificial potential field method is proposed.Based on the traditional A-star algorithm,the node expansion strategy is improved,and the artificial potential field method is introduced to construct the dynamic weight heuristic function.Finally,the corner optimization and smoothing of the planned path are carried out.MATLAB simulation results show that the proposed method can quickly generate the global optimal path.Furthermore,when the global information and flight route are known,the dynamic window approach is used to plan the local path of the sudden obstacle,and the improvement of the expansion treatment of the obstacle area and collision detection scheme are proposed,which in order to help UAV to expand the scope of early warning and make obstacle avoidance behavior in advance.Finally,combined with the improved path planning algorithm,the simulation experiment is completed by using the quadrotor UAV model on the ROS platform.The experimental results show that the improved path planning method can make the best path planning for the target waypoint,and make obstacle avoidance action in time when facing with sudden obstacles.Based on the above simulation results,a real aircraft experiment is carried out at the end of this paper,and good results are obtained by using the ground station to observe the flight of UAV.