Research On Autonomous Obstacle Avoidance Flight In Indoor Passage Of Uav Based On PIXHAWK

In recent years,the demand for small quadrotor UAVs has become higher and higher in the market,and the functions of small quadrotor UAVs have become more arduous.It is not limited to measurement,plant protection,etc.More and more small quadrotors are not available.The man-machine needs to complete the task of autonomous obstacle-avoiding flight in some complicated environments without manual control.In some environments without GPS,there is a higher requirement for the autonomous flight control of the drone,and the autonomous flight of the drone without GPS has become one of the key issues in the autonomous flight of the drone.In this paper,the pixhawk open source flight control system is the main control system of the UAV,and the small quadrotor UAV is used as the flight platform.How to realize the autonomous obstacle avoidance flight of the multi-rotor UAV is studied.Firstly,based on the background of the project,the significance of the research,and the systematic analysis of the research status of the four-rotor UAV at home and abroad,the main research contents of this topic are proposed.Secondly,the hardware composition,control system and communication mode of the multi-rotor UAV are described.The basic components of the four-rotor UAV,including the mechanical system,the drive system and the control system;the main components of the pixhawk open source flight control,control methods and operational processes,including the solution and control of position and attitude in the PX4 source code,and the implementation of the external control flight.Finally,the core obstacle avoidance system and the 2d map including the path are explained;the basic control principle of the quadrotor UAV with pixhawk flight control as the core;the autonomous obstacle avoidance flight control with the Raspberry Pi as the external computer The system;and the path map record of the SLAM algorithm running through the laser radar,etc.,through simulation and physical experiments to verify the feasibility of the theory.