由自主控制算法控制的非载人无人飞行器在执行定向打击等危险任务中往往比有人机具有更大的优势。然而,在执行爆破任务的时候,无人机在不同场景下的检测算法鲁棒性往往无法得到保证,这极大地影响了无人机对目标的定位效果,导致执行任务的成功率大幅降低。为解决上述问题,提出利用基于跨域的目标检测算法提高无人机在不同场景下检测算法的鲁棒性,并通过在线GPS聚类算法提高无人机对目标定位的稳定性。同时,鉴于目标爆破位置对爆破结果的影响,提出一种薄弱部位定位算法,提高爆破的精确度和成功率。
冯航涛
,
曾少锋
,
张璐
,
杨旭
,
刘智勇
. 基于共轴双旋翼无人机的目标检测与薄弱位置定位系统设计[J]. 中国科学院大学学报, 2023
, 40(5)
: 701
-709
.
DOI: 10.7523/j.ucas.2022.017
Unmanned aerial vehicles (UAV) controlled by autonomous control algorithms often have greater advantages than manned aircraft in the execution of directional strikes and other dangerous tasks. When performing blasting tasks, the robustness of the UAV detection algorithm in different scenarios is often not guaranteed, which greatly affects the UAV's positioning of the target, thus reducing the success rate of the mission. In order to solve the above problems, the crossdomain-based object detection algorithm is used to improve the robustness of the UAV detection algorithm in different scenarios, and the online GPS clustering algorithm is used to improve the robustness of object positioning. At the same time, in view of the impact of the object blasting position on the blasting result, the system uses an algorithm for locating weak parts to improve the accuracy and success rate of blasting.
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