基于PX4的地面无人车避障系统及路径规划研究

Research on Obstacle Avoidance System and Path Planning of Unmanned Ground Vehicle Based on PX4

摘要: 地面无人车避障及路径规划是指，无人车在自动巡航过程中，遇到障碍物能够自动避开，并对当前行进路线进行重新规划，重新进入预设路线行驶。本文使用HPI公司的Savage Flux 2350差速驱动越野车作为实验平台，选用开源硬件Pixhawk飞控作为运动控制器，对PX4 Rover软件系统进行二次开发。使用数据采集模块获得超声波数据，并通过串口方式与飞控板进行通信，完成数据交换，从而实现对地面无人车周围环境的实时检测，完成巡航模式下的避障功能。

Abstract: The obstacle avoidance and path planning of the unmanned ground vehicle mean that the un-manned vehicle can automatically avoid obstacles during the automatic cruising process, re-plan the current travel route and re-enter the preset route. This article uses HPI's Savage Flux 2350 differential drive off-road vehicle as an experimental platform and open source hardware flight control Pixhawk as a motion controller, to conduct secondary developments of PX4 Rover software system. The data acquisition module is used to obtain the ultrasonic data and communicates with the flight control board through the serial port mode to complete the data exchange, thereby realizing the real-time detection of the surrounding environment of the unmanned ground vehicle and completing the obstacle avoidance function in the cruise mode.