Jay Mark S. Lagmay, Lionel Jed C. Leyba, Alessandro T. Santiago, Lea B. Tumabotabo, Wilbert Jethro R. Limjoco, N. Tiglao
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引用次数: 5
Abstract
This paper details a system that provides positioning, obstacle detection and avoidance, pathfinding, and energy monitoring suitable for indoor operation designed for the Crazyflie 2.0 drone. The positioning subsystem was achieved by a hybrid of Received Signal Strength Indicators and Dead Reckoning. Obstacle detection and avoidance used an IR sensor to detect objects in the drone’s path, allowing the drone to look for alternate paths. Pathfinding used a modified Node Array A* algorithm implemented in a 3D model of the testing area within the Unity engine. Finally, energy monitoring used the drone’s built-in Python library to log voltage values and were sent to the Unity system, which reroutes the drone upon detecting a low battery voltage. The system was able to provide a basic autonomous navigation system that prioritizes safety of the drone and its flying environment.
本文详细介绍了为crazyfly 2.0无人机设计的适合室内操作的定位、障碍物检测与避障、寻径和能量监测系统。定位子系统采用接收信号强度指示器和航位推算相结合的方法实现。障碍物检测和避免使用红外传感器来检测无人机路径上的物体，使无人机能够寻找替代路径。寻路使用了在Unity引擎中测试区域的3D模型中执行的改进的Node Array a *算法。最后，能量监测使用无人机的内置Python库来记录电压值，并被发送到Unity系统，该系统在检测到低电池电压时重新路由无人机。该系统能够提供一个基本的自主导航系统，优先考虑无人机及其飞行环境的安全。
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