东北大学学报（自然科学版）

东北大学学报（自然科学版） ›› 2013, Vol. 34 ›› Issue (11): 1546-1549.DOI: 10.12068/j.issn.1005-3026.2013.11.007

• 信息与控制 • 上一篇    下一篇

基于消失点的四旋翼飞行器走廊自主导航

赵海，邵士亮，李大舟，王家亮   

  1. (东北大学信息科学与工程学院，辽宁沈阳110819)
  • 发布日期:2013-07-09
  • 通讯作者: 赵海
  • 作者简介:赵海(1959-)，男，辽宁沈阳人，东北大学教授，博士生导师.
  • 基金资助:
    国家科技支撑计划项目(2012BAH82F04).

FourRotor Aircraft′s Autonomous Navigation in Corridor Based on Vanish Point

ZHAO Hai， SHAO Shiliang， LI Dazhou， WANG Jialiang   

  1. School of Information Science & Engineering， Northeastern University， Shenyang 110819， China.
  • Published:2013-07-09
  • Contact: SHAO Shiliang
  • About author:-
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摘要： 针对现有消失点估计算法中存在的不适合实际工程应用的现象，提出了一种新的消失点估计算法——VQME算法，该算法的正确性、鲁棒性与实时性得到了验证，并且验证了其在工程应用中的可行性.同时针对四旋翼飞行器的欠驱动、多耦合等特性，提出了一种级联的多变量RBF神经网络PID自适应控制方法，运用该控制方法和以消失点为目标点的导航策略，最终实现了四旋翼飞行器在走廊中的自主导航.

关键词: 四旋翼飞行器, 消失点, 神经网络, 自适应控制, 自主导航

Abstract: Aiming at the phenomenon that the existed vanish point estimating methods are not suitable for the real engineering application， a new VQME algorithm to estimate vanish point was proposed. This algorithm was proved to be reasonable， robust and realtime and at last the feasibility was proved in engineering applications. At the same time aiming at the characteristic of fourrotor aircraft's under actuated and multicoupled， a cascade multivariate RBF neural network PID adaptive control method was proposed too. With this adaptive control method and the stratagem of making the vanish point as the target， the autonomous navigation in corridor was implemented.

Key words: fourrotor aircraft, vanish point, neural network, adaptive control, autonomous navigation

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