使用tum_ardrone包为Ardrone 2.0开发避障系统

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI:10.1109/RED-UAS.2017.8101642

F. d'Apolito, C. Sulzbachner

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引用次数: 1

摘要

对于在室内环境中运行的微型飞行器(MAV)，已经确定了一些挑战，例如避免碰撞。本文旨在利用Parrot Ardrone 2.0和tum_ardrone ROS包构建室内避碰系统的小型室内演示器。此外，为了从并行跟踪与映射(PTAM)算法提取的点云中检测障碍物，还开发了障碍物检测。根据障碍物的坐标，自动驾驶仪计算出MAV的安全路径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Obstacle avoidance system development for the Ardrone 2.0 using the tum_ardrone package

For micro aerial vehicles (MAV) to operate in indoor environments, several challenges have been identified such as collision avoidance. This paper aims to present a small scale indoor demonstrator of an indoor collision avoidance system using the Parrot Ardrone 2.0 and the tum_ardrone ROS package. In addition, obstacle detection was developed in order to detect obstacles from the point cloud extracted from the Parallel Tracking and Mapping (PTAM) algorithm. Based on the coordinates of the obstacles, the autopilot computes a safe path for the MAV.

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2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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