具体代码
时间: 2023-07-03 13:25:57 浏览: 46
由于无人机的避障算法需要结合具体的传感器、控制器硬件进行开发,因此代码实现会根据具体情况有所不同。以下是一个基于ROS(机器人操作系统)和Python实现的简单避障算法示例,供参考:
```
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Twist
class ObstacleAvoidance:
def __init__(self):
self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
self.laser_sub = rospy.Subscriber('/laser_scan', LaserScan, self.laser_callback)
self.obstacle_detected = False
def laser_callback(self, msg):
# 获取激光雷达数据,判断是否存在障碍物
if min(msg.ranges) < 1.0:
self.obstacle_detected = True
else:
self.obstacle_detected = False
def run(self):
r = rospy.Rate(10)
while not rospy.is_shutdown():
if self.obstacle_detected:
# 存在障碍物,进行避障操作
cmd_vel = Twist()
cmd_vel.angular.z = 0.5 # 向左转
self.cmd_vel_pub.publish(cmd_vel)
else:
# 无障碍物,正常飞行
cmd_vel = Twist()
cmd_vel.linear.x = 1.0 # 直线前进
self.cmd_vel_pub.publish(cmd_vel)
r.sleep()
if __name__ == '__main__':
rospy.init_node('obstacle_avoidance')
obstacle_avoidance = ObstacleAvoidance()
obstacle_avoidance.run()
```
该代码实现了一个简单的激光雷达避障算法,当激光雷达检测到障碍物时,通过发布 Twist 类型的控制指令进行向左转的操作,否则进行直线前进操作。需要注意的是,该代码仅供参考,具体实现需要根据具体硬件设备和应用场景进行调整和优化。