基于光流的六旋翼飞行器悬停控制

doi:10.3969/j.issn.1005-3026.2015.10.003

东北大学学报:自然科学版 ›› 2015, Vol. 36 ›› Issue (10): 1378-1383.DOI: 10.3969/j.issn.1005-3026.2015.10.003

基于光流的六旋翼飞行器悬停控制

史添玮，王宏

(东北大学机械工程与自动化学院，辽宁沈阳110819)

收稿日期:2014-09-03 修回日期:2014-09-03 出版日期:2015-10-15 发布日期:2015-09-29
通讯作者: 史添玮
作者简介:史添玮(1982-)，男，辽宁鞍山人，东北大学博士研究生; 王宏(1960-)，女，辽宁沈阳人，东北大学教授，博士生导师.
基金资助:
辽宁省高校创新团队资助项目(LT2014006)；国家自然科学基金资助项目(51405073，61071057).

Hovering Control of Hex-Rotor Aircraft Based on Optical Flow

SHI Tian-wei， WANG Hong

School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China.

Received:2014-09-03 Revised:2014-09-03 Online:2015-10-15 Published:2015-09-29
Contact: WANG Hong
About author:-
Supported by:
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摘要/Abstract

摘要：

提出了一种应用惯性光流实现六旋翼飞行器悬停的非线性控制器.为克服外界因素的影响，提出一种辅助悬停控制系统.首先由球面相机获取目标平面的图像，并通过动态映射实现目标点到相机镜头表面的映射；然后比对连续时刻的图像获取目标点的平移光流；最后，使用分散平移光流作为控制器的反馈信息，实现飞行器的稳定悬停.目标平面为室内多纹理的平坦地面，共完成10次测试.实际飞行测试表明，飞行器在水平与高度方向的悬停位置误差为±5cm，验证了该非线性控制器与辅助悬停控制系统的可行性.

关键词: 六旋翼飞行器, 惯性光流, 非线性控制器, 动态映射, 辅助悬停控制系统

Abstract:

A nonlinear controller was proposed to realize the hovering control for the hex-rotor aircraft by using the inertial optical flow. Meantime， an auxiliary hovering control system was presented to overcome the influence of external factors. Firstly， the spherical camera was used to get the image of target plane， and the projection from target point to camera lens was realized by dynamic mapping. Then the translational optical flow of target point was obtained by comparing the two continuous time images. Finally， the divergent translational optical flow was utilized as the feedback to implement the stable hovering control for the hex-rotor aircraft. The indoor textured floor was selected as the target plane， and this experiment was tested ten times totally. The actual flight tests showed that the errors on horizontal and vertical directions were all less than ±5cm， which verified the feasibility of the proposed nonlinear controller and auxiliary hovering control system.

Key words: hex-rotor aircraft, inertial optical flow, nonlinear controller, dynamic mapping, auxiliary hovering control system

中图分类号:

V249.1

史添玮，王宏. 基于光流的六旋翼飞行器悬停控制[J]. 东北大学学报:自然科学版, 2015, 36(10): 1378-1383.

SHI Tian-wei， WANG Hong. Hovering Control of Hex-Rotor Aircraft Based on Optical Flow[J]. Journal of Northeastern University:Natural Science, 2015, 36(10): 1378-1383.

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基于光流的六旋翼飞行器悬停控制

Hovering Control of Hex-Rotor Aircraft Based on Optical Flow

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