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Acquiring the heading angle changing is important to flight path planning and control for the Agricultural Unmanned Aerial Vehicle (AUAV).According to the characteristics of visualized environment for AUAV working, a method based on the dynamic change of farmland environment feature points to estimate the changes of AUAV heading angle has been propose.It avoids the limitation of traditional machine vision algorithm which based on crop rows for acquiring the changes of heading angle.A dynamic variable interested area has been established.Then Speeded Up Robust Features (SURF) algorithm is used to locate and extract farmland feature points quickly.According to the relative motion characteristics between AUAV and farmland, an the image matching technology has been used to acquire its heading angle changes.Field experiment show that the algorithm can extract heading angle changes of AUAV in irregular farmland environment.