基于Pixahwk的多旋翼无人机避障飞行系统研发

Study on Obstacle Avoidance Flight System of Multi-Rotor UAV Based on Pixhawk

摘要: 飞行器的自主避障是顺利完成飞行任务的重要保证，同时在很大程度上体现了飞行器的智能性和安全性。本文以Pixhawk开源飞控系统为基础，以“X”型四旋翼飞行器为平台，对多旋翼飞行器自主避障技术进行研究，开发出一款简单高效避障系统。飞行试验表明该避障系统可实现飞行器避障飞行。

Abstract: Autonomous obstacle avoidance is an important guarantee for the successful completion of the mission, and it reflects the intelligence and security of the aircraft. This article aims to study the obstacle avoidance technology of multi-rotor UAV based on the cross type quadrotor and Pixhawk which is the open source flight control system. A simple and efficient obstacle avoidance system is developed. The flight test shows that the obstacle avoidance system can realize the obstacle avoidance of UAV.