【无人机】【2019.06】【含源码】实现已知环境完全和最佳三维覆盖的自主飞行器定位、路径规划和导航

在过去的数年里，机器人工业特别是无人驾驶飞行器的迅速发展已经被人们察觉。尽管它们主要用于军事用途，但如今它们在各种领域中的应用也在不断增加，如人类环境的不可接近性检测、事件电影拍摄、自动实时清点等。

在室内环境中使用无人机，需要对周围环境有很强的感知能力，对周围环境的变化做出及时的反应，从而对其进行稳健的位置估计。为了实现这些目标，无人机需要使用多个可用的传感器。在环境中以最佳方式进行导航需要有一个已知的飞行计划，该计划将达成预期目标。

本学位论文的重点是解决物流行业中快速、可靠和低成本库存问题的算法实现。无人机的使用简化了这一过程，旨在以几厘米的精度确定每件产品的位置。该问题由两个子问题组成：a）室内环境中的位置估计和b）区域的自治全覆盖。

为了成功地解决上述问题，使用了OctoMap格式的已知3D地图。在研究过程中，为了根据已知地图跟踪机器人的姿态，实现了一种基于粒子滤波的无人机距离传感器阵列算法。导航算法是基于PID位置控制器，确保无障碍路径。对于全覆盖情况，首先提取目标，然后进行最优处理。

最后，我们进行了一系列的实验来检验定位系统在三种运动类型以及不同速度下的鲁棒性。同时，通过使用执行区域覆盖的传感器的不同配置，研究了穿越环境的各种方式。实验完全是在模拟环境中进行的。

Over the last years a rapid evolution of the robotics industry, and particularly that of the Unmanned Aerial Vehicles, has been observed. Despite the fact that they were primarily used for military applications, nowadays their use is constantly increasing in a variety of applications, such as the inspection of inaccessible for humans environments, events cinematography, autonomous and real-time inventorying, etc.

The use of unmanned aerial vehicles in indoor environments requires a great perception of the surrounding environment, immediate response to its changes and consequently a robust position estimation. In order to achieve these, the use of multiple available sensors is required by the drone. The navigation in an optimal way inside the environment requires the existence of an already known flight plan that will lead to the desired goal.

The present Diploma Thesis focuses on implementation of algorithms for solving the problem of fast, reliable and low-cost inventorying in the Logistics industry. The usage of drones simplifies this procedure and aims to determine every product’s position with a few centimeters accuracy. This problem consists of two subproblems: a) the position estimation in the indoor environment and b) the autonomous full coverage of the area.

In order to successfully tackle the problems described above, a known 3D map in OctoMap format is used. During the research, a Particle Filter based algorithm that uses an array of distance sensors around the drone was implemented, in order to track the pose of the robot against the known map. Navigation is based on a PID position controller that ensures an obstacle free path. As for the full coverage, an extraction of the targets and then their optimal succession is performed.

Finally, a series of experiments were carried out to examine the robustness of the positioning system in three types of motion, as well as different speeds in each of these cases. At the same time, various ways of traversing the environment were examined by using different configurations of the sensor that performs the area coverage. The experiments were entirely performed in a simulated environment.

更多精彩文章请关注公众号：