Obstacle Avoidance Design of Aerial Robot Combining A star algorithm Algorithm and Optical Dynamic Capture Method

Abstract

The traditional A star obstacle avoidance algorithm is based on binocular cameras for indoor positioning, which requires rich obstacle feature points and has the risk of explosion in a single indoor environment. In this paper, the method of merging the A star algorithm and optical dynamic capture is proposed. By pasting Marker points on key moving parts, the actual position of the aerial robot is calculated with the optical dynamic capture system, and compared with the target position planned by the A star algorithm and corrected in real time during a flight. Through the experimental analysis of the original acceleration of the aerial robot and different position between the target point and the actual point in the flight process, the stability and flight accuracy of the aerial robot in the flight process can be significantly improved, which has good practical application value.