面向梯田环境的四旋翼飞行器路径规划与跟踪控制研究

发布时间：2018-04-03 17:31

本文选题：四旋翼飞行器　切入点：全覆盖路径规划　出处：《深圳大学》2016年硕士论文

【摘要】：中国作为农业大国,18亿亩的基本农田,需要大量的植保作业。以人工方式进行的农药喷洒作业,效率低且劳动强度大,易发生农药中毒及污染事件。随着农业现代化的发展,旋翼无人植保机以一种新型植保机械应用于农田病虫防治,其具有喷洒效率高、农药污染小、操作人员无需下田的优势。而由于农田环境具有形状不规则、地形复杂等特点,使得旋翼无人植保机在作业过程中需要考虑任务过程中的特殊约束条件,进而对植保机的路径规划和路径跟踪有更高、更复杂的要求。本论文以四旋翼无人机面向梯田区域的全覆盖为研究目的,以结合二维激光测距仪和多路超声波传感器的全覆盖遍历法及路径跟踪控制为主要研究内容。设计采用激光测距仪和超声波传感器分别对水平方向和垂直方向的环境进行探测,结合沿田壁飞行策略,进行梯田环境的覆盖。通过建立四旋翼飞行器的动力学模式,分析运动模式,设计PID内外环串联控制器,仿真实现了面向梯田区域的全覆盖路径飞行实验。本文的主要内容如下:(1)总结四旋翼飞行器运动控制规律,对飞行器二维直线和水平圆周运动进行受力分析;针对四旋翼无人机的飞行水平探测,根据作业环境信息,选择二维激光测距仪作为水平探测传感器并进行水平探测研究,设计避障和沿墙飞行策略,划分探测区域并对避障区的避障算法采用模糊控制进行避障,对飞行器模糊避障逻辑进行仿真。(2)设计了四旋翼无人机垂直探测总体结构,针对垂直环境探测,采用多路超声波传感器对作物冠层进行测距,判断作物的有无。对超声波传感器进行了室内不同角度的测距实验并对多路超声波传感器的串扰问题提出了解决方法。(3)建立四旋翼飞行器动力学模型,分析其运动特性。根据实际飞行应用,对姿态动力学模型简化成线性小扰动模型,设计PID内外环串联控制器实现对四旋翼飞行器的位置跟踪控制。基于梯田特点,建立梯田覆盖区域模型,结合激光测距仪和多路超声波传感器针对梯田环境模型设计了全区域遍历法,仿真实现了梯田的全覆盖路径飞行。
[Abstract]:China as a large agricultural country, 1.8 billion mu of basic farmland, requires a large number of plant protection operations.It is easy to produce pesticide poisoning and pollution because of its low efficiency and high labor intensity.With the development of agricultural modernization, rotary-wing unmanned plant protector is used as a new type of plant protection machinery to control farm diseases and insect pests. It has the advantages of high spraying efficiency, less pesticide pollution and no need for operators to get off the field.However, because of the irregular shape and complex terrain of farmland environment, the special constraints in the task process should be considered in the process of operation of the rotary-wing unmanned plant protector, and the path planning and path tracking of the plant protector are higher.More complex requirements.The purpose of this thesis is to study the total coverage of four-rotor UAV in the terraced area. The main content of this thesis is the full coverage ergodic method and path tracking control combined with 2-D laser rangefinder and multi-channel ultrasonic sensor.The laser rangefinder and ultrasonic sensor are used to detect the horizontal and vertical environment respectively, and the terrace environment is covered with the flight strategy along the field wall.By establishing the dynamic mode of the four-rotor aircraft, analyzing the motion mode, designing the series controller of PID inner and outer ring, the full-coverage path flight experiment for terraced area is realized by simulation.The main contents of this paper are as follows: 1) summarizing the motion control law of the four-rotor aircraft, analyzing the force on the two-dimensional straight line and horizontal circular motion of the aircraft, and aiming at the flight level detection of the four-rotor UAV, according to the operating environment information,The two-dimensional laser rangefinder is selected as the horizontal detection sensor and the horizontal detection research is carried out. The obstacle avoidance and flight strategy along the wall are designed, the detection area is divided and the obstacle avoidance algorithm of the obstacle avoidance area is avoided by fuzzy control.The overall structure of vertical detection for four-rotor UAV is designed. According to the vertical environment detection, multi-channel ultrasonic sensors are used to range the crop canopy to determine whether the crop is available or not.In this paper, the range measurement experiments of ultrasonic sensors at different angles are carried out, and a method to solve the crosstalk problem of multi-channel ultrasonic sensors is proposed. The dynamic model of four-rotor aircraft is established and its motion characteristics are analyzed.According to the actual flight application, the attitude dynamics model is simplified into a linear small disturbance model, and the PID inner and outer loop series controller is designed to realize the position tracking control of the four-rotor aircraft.Based on terrace characteristics, the terrace coverage area model is established, combined with laser rangefinder and multi-channel ultrasonic sensor, the whole area traversal method is designed for terrace environment model, and the full coverage path flight of terrace is realized by simulation.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V275.1;V249.1

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