Indoor four-rotor unmanned aerial vehicle 360-degree three-dimensional obstacle avoidance system

Abstract

The invention relates to an indoor four-rotor unmanned aerial vehicle 360-degree three-dimensional obstacle avoidance system and belongs to the control science and control engineering field. When a four-rotor unmanned aerial vehicle cruises indoors to perform tasks such as rescue and relief work, problems can be brought to the flight of the four-rotor unmanned aerial vehicle caused by relatively complex indoor environment, weak GPS signals and difficulty in deploying peripherals, and in order to solve the above problems, the four-rotor unmanned aerial vehicle 360-degree three-dimensional obstacle detection and obstacle avoidance decision making device is designed. An STM32f103 is adopted as a core processor, and the number and the positions of ultrasonic sensors are reasonably configured, so that a model for acquiring surrounding environment information is constructed, and therefore, three-dimensional obstacle detection can be realized. When the four-rotor unmanned aerial vehicle performs a task, the obstacle avoidance decision making system performs Kalman filtering processing on acquired obstacle distance values and thereafter, performs data fusion based on directions, and performs obstacle avoidance decision making based on fused data through a fuzzy logic algorithm, and sends an obstacle avoidance decision to a flight controller through a serial port; and the flight controller controls the flight attitude of the unmanned aerial vehicle to complete an obstacle avoidance task.

Description

technical field

[0001] The invention relates to an intelligent obstacle avoidance control system for an unmanned aerial vehicle, in particular to a 360° three-dimensional obstacle avoidance system applied to an indoor miniature four-rotor unmanned aerial vehicle, and belongs to the field of control science and control engineering. Background technique

[0002] Unmanned Aerial Vehicle (UAV) is an unmanned aerial vehicle driven by power, remotely controlled by radio or automatically flying under the control of an onboard program. According to different structures, UAVs can be divided into two types: fixed-wing UAVs and rotary-wing UAVs. Among them, the four-rotor UAV is very suitable for performing tasks in narrow spaces (such as indoors, urban areas, etc.) due to its simple propeller mechanical structure, small rotation effect, low energy consumption, and low requirements for flying space. It is used in various fields. It is favored by various industries, departments and sys...

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