Study On Indoor Airship Automatic Obstacle Avoidance Technique

Airship receives extensive attention for its features of low energy consumption, easy to split and strong mobility. It can take off and land vertically, and hover in the air without special equipment land fields,and it is widely used in these aspects, such as aerial advertising, festival, air show, aerial, and even in live relay, tourism etc.Indoor airship compared with outdoor airship, is used in indoor venues. It can easily capture people’s attention, emerging as the bright spot of the venue, and it becomes one of the most desirable advertising tools for its favorable height. Due to the complex shape of obstacles and the activities of people or other sports facilities, it becomes essential for the airship with the ability to identify and safely avoid obstacles in a dynamic and uncertain environment, when it is flying autonomous in venues.The current issue of obstacle avoidance can be divided into two categories: the first is model-based planning method, It can easily search for the global target, but could not adapt to changing environment or mobile obstacles; the second is sensor-based reaction obstacle avoidance method, it can directly response to changing environment, but it is easy to lose goal, and even falls into local trap region. Airship must be able to complete local online obstacle avoidance in a complex environment with static and dynamic obstacles by combining these two methods.Taking obstacle avoidance technology of indoor airship as the core, this article designs an obstacle avoidance method by analyzing the advantages and disadvantages of existing ones according to the characteristics of indoor airship, and it is primarily to resolve the issue of how best to avoid obstacles.The paper designs a navigator which includes steering fuzzy controller and speed fuzzy controller, by adopting the fuzzy logic method and imitating human behavior. The navigator controls the airship to change flight angle when discovering obstacles, and fly to target safely after avoiding obstacles. These two controllers work coordinately to achieve real-time obstacle avoidance for indoor airship.In this paper, we build a simulation system to simulate the designed fuzzy controller, which verifies the controller can control the airship to real-time avoid obstacles well according to detected obstacle distance.