Journal of Computer Applications ›› 2021, Vol. 41 ›› Issue (2): 384-389.DOI: 10.11772/j.issn.1001-9081.2020060962

Special Issue: 人工智能

• Artificial intelligence • Previous Articles     Next Articles

Obstacle avoidance path planning algorithm of quad-rotor helicopter based on Bayesian estimation and region division traversal

WANG Jialiang, LI Shuhua, ZHANG Haitao   

  1. College of Computer Science and Technology, Civil Aviation University of China, Tianjin 300300, China
  • Received:2020-07-05 Revised:2020-10-04 Online:2021-02-10 Published:2020-12-18
  • Supported by:
    This work is partially supported by the National Natural Science Foundation of China (U1833114).


王家亮, 李树华, 张海涛   

  1. 中国民航大学 计算机科学与技术学院, 天津 300300
  • 通讯作者: 李树华
  • 作者简介:王家亮(1983-),男,辽宁辽阳人,讲师,博士,主要研究方向:小型无人机、嵌入式系统;李树华(1998-),男,内蒙古赤峰人,主要研究方向:小型无人机;张海涛(1998-),女,河北张家口人,主要研究方向:小型无人机。
  • 基金资助:

Abstract: In order to improve the real-time ability of obstacle avoidance using image processing technology for quad-rotor helicopter, an obstacle avoidance path planning algorithm was proposed based on Bayesian estimation and region division traversal. Firstly, Bayesian estimation was used to preprocess the video images collected by quad-rotor helicopter. Secondly, obstacle probability analysis was performed to obtain key frames from video images, so as to maximize the real-time performance of the helicopter. Finally, the background difference was carried out on these selected image frames to identify the obstacles, and the pixel point traversal algorithm based on region division was implemented in order to improve the accuracy of obstacle identification. Experimental results show that with the use of the proposed algorithm, the real-time performance of quad-rotor helicopter obstacle avoidance is improved with guaranteeing the obstacle avoidance identification ability, and the maximum distance between the ideal trajectory and the actual flight trajectory of the quad-rotor helicopter is 25.6 cm, while the minimum distance is 0.2 cm. The proposed obstacle avoidance path plan algorithm can provide an efficient solution for quad-rotor helicopter to avoid obstacles by using video images collected by camera.

Key words: quad-rotor helicopter, Bayesian estimation, region division traversal, obstacle avoidance, path planning

摘要: 为了提高利用图像处理技术进行四轴飞行器避障的实时性,提出一种基于贝叶斯估计与区域划分遍历的避障路径规划算法。首先,通过贝叶斯估计来对四轴飞行器采集到的视频图像进行预处理;其次,对采集到的图像进行障碍物概率分析以获取视频图像中的关键帧,最大限度地提高四轴飞行器的实时性;最后,对选取的图像帧进行背景差分实现障碍物识别,并通过实现基于区域划分的像素点遍历算法提高障碍物识别的准确性。实验结果表明,在保证障碍物识别性能的前提下,所提算法使四轴飞行器进行避障时的实时性有所提升,且四轴飞行器的理想轨迹与实际飞行轨迹的最大距离为25.6 cm,最小距离为0.2 cm。可见所提出的避障路径规划算法为四轴飞行器利用摄像头采集的视频图像进行避障提供了一种高效的解决方案。

关键词: 四轴飞行器, 贝叶斯估计, 区域划分遍历, 避障, 路径规划

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