室内飞艇自动避障技术研究

发布时间：2018-05-05 05:39

本文选题：室内飞艇 + 避障方法　；参考：《沈阳航空航天大学》2011年硕士论文

【摘要】：飞艇耗能低,易拆收,机动性强,这些特点使其受到了广泛关注。它不需要专用的起降场就可以垂直起降或空中悬停,在空中广告、节日庆典、飞行表演、航拍等方面使用非常广泛,甚至在现场直播中继,旅游观光等方面应用也比较广泛。相对于户外飞艇来讲,在室内场馆中使用的便是室内飞艇。它可以轻松虏获人们的眼球,脱颖而出成为场馆的亮点,而它有利的高度使其成为最理想的广告载体之一。飞艇在场馆中自主飞行时,由于场馆中障碍物形状复杂多样化,而且常常有人或其他运动设施的活动,故它需要在具有动态性和不确定性的环境中具有一定的辨别障碍物、避开障碍物的能力。目前对避障问题的研究可以分为两类:一是基于模型的规划法,它可方便地搜索到全局目标,但却无法适应变化的环境或避开运动的障碍;二是基于传感器的反应式避障法,它可以利用传感器探测的数据直接对变化的环境做出响应,但是容易丧失目标甚至掉入局部陷阱区域。飞艇要实现真正意义上的自主,必须结合二者,使其能在具有动静态障碍物的复杂环境中完成局部在线避障。论文以室内飞艇的避障技术为核心,通过分析现有避障方法的优缺点,根据室内飞艇的特点,设计了符合其避障的局部路径规划方法,主要解决室内飞艇如何最优地避开障碍物的问题。论文采用模糊逻辑的方法,模拟人类的行为,设计了包括转向模糊控制器和速度模糊控制器的导航器,它控制飞艇在发现障碍物时改变飞行角度,并在避障后能够安全顺利的到达目标点。两个控制器相互协调工作实现了室内飞艇的实时避障。论文中建立了仿真系统对设计的模糊控制器进行了仿真,验证了控制器根据探测到的障碍物距离能够很好的控制飞艇进行实时避障。
[Abstract]:The airship has the characteristics of low energy consumption, easy to disassemble and strong maneuverability. It can take off or land vertically or hovering in the air without special take-off and landing field. It is widely used in air advertisement, festival celebration, flight performance, aerial photography and so on, even in live relay, tourism and so on. Compared to outdoor airships, indoor airships are used in indoor venues. It can easily capture the eyes of people, stand out as the highlight of the venue, and its favorable height makes it one of the most ideal advertising carriers. When an airship flies independently in a stadium, it needs to distinguish obstacles in a dynamic and uncertain environment because of the complex and diversified shape of obstacles in the venue and the activities of people or other sports facilities. The ability to avoid obstacles. At present, the research on obstacle avoidance can be divided into two categories: one is model-based programming, which can easily search the global target, but it can not adapt to the changing environment or avoid the obstacles of movement, the other is the sensor-based reactive obstacle avoidance. It can directly respond to the changing environment by using the data detected by the sensor, but it is easy to lose the target and even fall into the local trap area. In order to realize real autonomy, the airship must combine them so that it can avoid obstacles in the complex environment with dynamic and static obstacles. This paper takes the obstacle avoidance technology of indoor airship as the core, through analyzing the advantages and disadvantages of the existing obstacle avoidance methods, according to the characteristics of the indoor airship, designs the local path planning method which accords with the obstacle avoidance method. It mainly solves the problem of how to avoid obstacles optimally. In this paper, the method of fuzzy logic is used to simulate human behavior, and a navigator, which includes a steering fuzzy controller and a speed fuzzy controller, is designed, which controls the airship to change its flight angle when it finds obstacles. It can reach the target point safely and smoothly after avoiding obstacles. The two controllers coordinate with each other to realize the real-time obstacle avoidance of the indoor airship. In this paper, a simulation system is established to simulate the designed fuzzy controller, which verifies that the controller can effectively control the airship to avoid obstacles in real time according to the detected obstacle distance.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：V274

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