摘要昆虫的定向是指昆虫借助内部和外部的信号主动调整姿态及其空间位置的能力和行为。许多昆虫能在大尺度范围内完成对目标的定向跟踪。昆虫的定向跟踪机制耐人寻。到目前为止，关于昆虫定向跟踪行为的研究对象主要包括蜜蜂、蚂蚁等社会性昆虫和迁飞昆虫种类。随着实验技术的不断发展，模拟各种飞行条件的室内飞行模拟器、高精度的视频和音频以及雷达等运动轨迹跟踪设备的出现，昆虫的运动轨迹可以被完整的监测，这些技术都为分析昆虫的定向跟踪机制提供了可靠的手段。本次课题从昆虫的视觉识别、目标定位以及路径优化三个方面逐次递增的进行研究来阐述昆虫的定向跟踪机制，并对其中与路径优化相关的蜂群算法进行了Matlab仿真。除此之外，本文还简略的叙述了昆虫的定向跟踪策略在无人飞行器中的应用前景。64504
毕业论文关键词：视觉识别 目标定位 路径优化 无人飞行器
毕业设计说明书（论文）外文摘要
Title The Design of UAV Based on The Orientation Tracking Strategies of Insects
Abstract The orientation of insects is based on their capacity and behavior of adjusting their posture and spatial location through internal and external signals. Some kinds of insect can complete the task of target tracing in a wide range of sight. The orientation tracking strategies of insects is rather intriguing. So far, some social insects such as bees or ants and migratory insects are mainly studied by scientists as regard to the orientation tracking strategies. With the continuous development of experimental techniques and rapidly improvement of indoor flight simulators, radar of high-precision and some videos or audios, the trajectory of insects can be completely monitored. Undoubtedly, techniques play an important role in the analysis of orientation and provide a reliable way for the study of strategies. This topic illustrates the insect's orientation tracking strategies from visual identification, targeting as well as path optimization in a successively incremental way and briefly describes the simulation of The Artificial Bee Colony Algorithm utilizing the tool of Matlab. Additionally, this paper briefly describes the prospects of orientation tracking strategy applied in UAV.
Keywords：visual identification targeting path optimization UAV
1 研究背景与历史 1
1.1 研究背景 1
1.2 研究现状 1
2.1 昆虫的复眼 2
2.2 光流及光流场 2
2.3 基于昆虫定向跟踪策略的一些生物学实验 3
2.4 蜜蜂的记忆 4
2.5 蜜蜂群体采蜜行为的研究现状 5
3 无人飞行器的定位跟踪发展现状 7
3.1 无人飞行器的相关背景 7
3.2 无人飞行器的视觉系统 7
3.3 图像处理技术 7
3.4 无人飞行器跟踪地面移动目标的特点 8
3.5 无人飞行器的视觉导航方法 8
4 相对角度模型 10
4.1 基于昆虫定向跟踪策略的自主探测器设计Matlab仿真:http://www.youerw.com/zidonghua/lunwen_71712.html