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.