提出四旋翼利用机载摄像头进行自主循迹的方案。采用机器视觉模块OpenMV获取地面图像, 将图像分割成5个区域, 通过计算和分析每个区域的标志位来识别各种赛道元素, 得出无人机相对于路径的水平偏差以及与路径的夹角。利用线性自抗扰控制器(LADRC)设计位置外环, 速度内环采用PID控制器, 两者形成位置—速度串级控制, 去消除水平误差。采取bang-bang控制算法进行飞行器航向纠正。以跟踪“8”字形轨迹进行了实验, 结果表明, 该方案具有良好的路径识别效果, 能够使四旋翼准确稳定地跟踪地面黑色引导线飞行。

A scheme is proposed for the quad-rotor UAV to implement autonomous tracking with an airborne camera. The machine vision module OpenMV is used to acquire the ground image, and the image is divided into five regions. By calculating and analyzing the black lines in each region, various track elements are identified to obtain the horizontal deviation of the UAV relative to the path and the angle between the UAV and the path.The position outer loop is designed by the Linear Active Disturbance Rejection Controller (LADRC), and the speed inner loop adopts a PID controller, and the two loops form a position-speed cascade control to eliminate the horizontal error. The bang-bang control algorithm is then used to correct the aircraft heading. Experiments were carried out to track the 8-shaped trajectory. The results show that the scheme has a good path recognition effect and can make the quad-rotor UAV accurately and stably track the ground black guide line.