开源飞控APM避障功能介绍

避障功能介绍不同的飞行器类型、飞行模式、障碍类型有不同的策略如重规划、掠过、停止、失效保护。总计分为两个范畴• ADSBAutomatic Dependent Surveillance Broadcasthttps://ardupilot.org/copter/docs/common-ads-b-receiver.html 介绍了硬件模块与设置包括软件仿真接入ADSB硬件。• 路径规划与避障传感器硬件§ Proximity 传感器一般是360°激光雷达或具有较宽视野的传感器多个测距传感器或深度相机也可用作Proximity传感器。 § 测距传感器为单点测距。 § 深度相机参考链接给出了Python程序将深度图像若干行像素转为MAVLink协议OBSTACLE_DISTANCE消息通过串口发给APM飞控。实测前要对深度图做一些滤波。https://ardupilot.org/copter/docs/common-realsense-depth-camera.html#common-realsense-depth-camera避障算法i. 简单避障 ii. Dijkstra iii. BendyRuler iv. DB 首先在航线上存在的所有障碍围栏用Dijkstra规划路径若路径上有检测到障碍换用BendyRuler算法若传感器视野内无障碍恢复正常的Dijkstra算法。 https://ardupilot.org/copter/docs/common-oa-dijkstrabendyruler.htmlAPM飞控参数设置串口SERIAL_PROTOCAL如用TELEM1接口n为1参数SERIAL1_PROTOCAL2即选MAVLink2波特率根据传感器输出配置。PRX1_TYPE 2即MAVLinkAVOID_ENABLE 7。根据传感器类型如毫米波雷达TeraRangerTowerEvoPRX1_TYPE 6。避障逻辑AVOID_MARGIN 1.5: How many meters from the barrier the vehicle will attempt to stop or try to slide along itAVOID_BEHAVE 1: Whether the vehicle should simply Stop (1) in front of the barrier or Slide (0) around itAVOID_DIST_MAX 1.5: How far from a barrier the vehicle starts leaning away from the barrier in AltHoldAVOID_ANG_MAX 30: How far the vehicle will try to lean away from the barrier in下一篇将介绍避障功能常用的传感器数据输入即MAVlink协议消息OBSTACLE_DISTANCE (330)https://mavlink.io/en/messages/common.html#messages