Design Of Intelligent Four Aircraft With Automatic Obstacle Avoidance System

UAVs can be used for civilian fields, meeting national defense needs, developing and utilizing space resources, and finally realizing space operations and tests. Small UAVs can be divided into two kinds--fixed-wing and rotary-wing aircraft. Rotary-wing aircraft is more dominant when conducting reconnaissance and surveillance mission, due to its small size, light and flexible. Moreover, it comes from the ability to achieve vertical takeoff and landing in a small space, fly over the whole direction and float over objectives.This paper studies quadcopter that is suitable for indoor use or in a relatively narrow space. Its design uses STM32as master chip to calculate and manage Inertia Calibration model and Operation Driver model. To improve the stability, on hardware part, we use three-axis gyroscope to measure the angular velocity and angular acceleration of three peripheral corners; use three-axis acceleration sensor to measure acceleration of aircraft; on software part, we studied a Kalman filter and PID feedback based aircraft position controlling algorithm to adjust the balance. Besides, for safe fly in indoor environment and narrow space, the aircraft should be able to recognize and avoid obstacles in specific dynamic and uncertain circumstances. This paper uses infrared sensors to detect obstacles and achieve automatically avoiding objects with algorithm.The quadcopter in this study is light, small, and mechanical structural simple. It has better flexibility and adaptability compare to existing quadcopters. The running prototype experimental results validate the feasibility of this intelligent aircraft’s automatic obstacle avoidance. It lays a foundation for the further engineering and practical. This aircraft has set aside expansion interface for later extended micro camera and WIFI module to make it more widely used. The possible examples are, to achieve intelligent remote inspection tour of office building without dead angle; to detect dangerous environment that ground robots or ground intelligent car cannot reach; to patrol high voltage transmission line in the air. In one word, it can greatly save the manpower cost and ensure the safety of people’s life to the most.