Autonomous Crop Pollination Using a Double-Flap UAV Integrated with Real-Time SLAM Technology: Design, Algorithms, and Experimental Validation

This paper introduces a Double-Flap Unmanned Aerial Vehicle（UAV）, utilizing Simultaneous Localization and Mapping (SLAM) technology, for an autonomous pollination system in crop farming. The UAV, with flapping wings generating thrust, adapts to 3D maneuvering by adjusting thrust size. Advanced perception technologies, including vision cameras and computer assistance, handle attitude control, target recognition, and path planning. By integrating SLAM algorithms with autonomous sensing, navigation, and control, the system reduces human intervention. It can identify obstacles, plan safe paths, and generate optimal trajectories and flight instructions in real-time. The paper details the vehicle's principle, airframe design, visual recognition, system design, key components, and algorithms. Experimental results show high maneuverability and performance in complex farmland environments, indicating potential for promoting agricultural modernization and sustainable development.