| 基于Pixhawk开源飞控项目的无人艇开发 |
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| 引用本文： | 闫勋,袁辉,甄庆喆,姜大鹏,刘凤光.基于Pixhawk开源飞控项目的无人艇开发[J].舰船科学技术,2020,42(3):148-151. |
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| 作者姓名： | 闫勋 袁辉 甄庆喆 姜大鹏 刘凤光 |
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| 作者单位： | 哈尔滨工程大学,黑龙江哈尔滨 150001;中山大学,广东珠海 519080;陆军海防第332旅船艇大队,辽宁大连 116000 |
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| 摘 要： | 针对Pixhawk开源项目的特点,开发一型基于开源飞控的无人艇平台。首先围绕Pixhawk项目的特点,从硬件框架、软件框架以及MAVLink通信协议3个方面对其进行介绍。通过相关的实船试验,验证了所开发无人艇平台的可行性及有效性。
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| 关 键 词： | Pixhawk 无人艇 控制系统 路径规划 |
Development of unmanned surface vehicle based on Pixhawk open source flight control project |
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| YAN Xun,YUAN Hui,ZHEN Qing-zhe,JIANG Da-peng,LIU Feng-guang.Development of unmanned surface vehicle based on Pixhawk open source flight control project[J].Ship Science and Technology,2020,42(3):148-151. |
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| Authors: | YAN Xun YUAN Hui ZHEN Qing-zhe JIANG Da-peng LIU Feng-guang |
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| Institution: | (Harbin Engineering University,Harbin 150001,China;SLin Yat-san University,Zhuhai 519080,China;Ship and Boat Brigade 331 of army Coastal Defense,Dalian 116000,China) |
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| Abstract: | According to the characteristics of Pixhawk open source project,an unmanned surface vehicle platform based on open source flight control project was developed.First of all,it focuses on the characteristics of the Pixhawk project,from the hardware framework,software framework and MAVLink communication protocol.Finally,the feasibility and effectiveness of the unmanned surface vehicle platform are verified by relevant experiments. |
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| Keywords: | Pixhawk unmanned surface vehicle(usv) control system path planning |
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