摘要
飞行器前视激光雷达通过测距得到前方距离像 ,由得到的距离像可以得到飞行器前面障碍物的形状、高度、宽度等信息 ,根据得到的信息 ,由飞行器惯导和飞行器在任意时刻的姿态可以决定飞行器的避障过程。根据激光成像雷达探测到的前视三维障碍物信息 ,推导了飞行器惯导约束下的避障算法。用该推导的算法在真实地形图上进行了模拟实验 ,实验结果表明算法是正确性的。
Achieving front distance image through front view laser radar of flyer. Front distance image, information of obstacle was achieved. According to the information, flyer could avoid obstacle under flyer inertia navigation action. The algorithm of avoiding obstacle was deduced from the information of 3D distance image. Simulative experiment is completed using the true map and the experimental results have shown that the algorithm is right.
出处
《电波科学学报》
EI
CSCD
2001年第2期249-251,共3页
Chinese Journal of Radio Science
基金
国防科技预研基金资助 (99J1.4.4.JW0 5 0 9)
关键词
飞行器
避障过程
激光成像雷达
惯导
flyer avoiding obstacle imaging laser redar inertia navigation
