Research Of Obstacle Avoidance Of Rotorcraft Based On The Improved Potential Field Method

Rotorcraft is one of UAVs(Unmanned aerial vehicles),which has many special performance,like simple structure,novel shape and easily manipulate and etc,widely used in many fields(both military and civilian field).However,it still is an important project in terms of autonomous obstacle avoidance flight of UAV,until now,there is no completely autonomous obstacle avoidance system for UAV.Thus,this article would focus on UAV’s obstacle avoidance strategy.A new obstacle avoidance system provide by this article based on the combination of the improved potential field with the data from redeveloping the px4 flow.The important contribution and creative achievements are summarized as follows:(1)Build up quad-rotor’s dynamic model,and then do the force analysis when it is hovering in air,then deduct its model of roll(pitch),yaw,position and attitude control.(2)Confirm the way of quad-rotor’s control and the structure of its control system by the previous liner model,then simulate and analysis them by matlab,so as to laid a theoretical foundation for further experiments.(3)Redevelop the px4 flow,improve the traditional potential field method,provide a new obstacle avoidance strategy.An obstacle avoidance strategy based on px4 flow sensor and the improved potential field,so as to help the aircraft complete the local path planning when avoiding obstacles.(4)Use a local UAV company’s crop protection quad-rotor as experiment’s device to test the attitude and control algorithm,and then verify correctness of the obstacle avoidance strategy.This article redevelop the px4 flow,so that it could be a device to detect obstacles,which greatly reduce the develop expense and time.Creatively providing a new obstacle avoidance strategy(combine the improved potential field with the redeveloped px4flow),which could compensate the defect of traditional potential field,also help the aircraft don’t lose their direction when avoiding obstacles that complete the local path planning,so as to be a good reference for UAV’s real-timing obstacle avoidance system.