Design And Implementation Of Obstacle Avoidance System Of Pesticide Spraying Multi-rotor UAV

With the development of modern agriculture,pesticide spraying by UAV operation which saves time and effort has become an inevitable requirement for agricultural production.In this paper,to improve the autonomous flight control of pesticide spraying UAV,advanced route planning algorithm based on geographical elevation data is proposed to avoid the obstacles with different elevations such as houses,towers,ponds,etc.Since the real-time position and posture information of UAV can be easily obtained by GPS/Inertial navigation system,we can make full use of the geography for the route planning of pesticide spraying UAV.In view of the contour data characteristics,geographical contour can be seen as equivalent to a closed polygon curve and the model of obstacle contour can be obtained by expanding the UAV fuselage length coefficient.Then the obstacle avoidance path can be calculated according to the Maximin principle.Pesticide spraying UAV control system,which includes the rotor aircraft mechanical mechanism,the peripheral drive circuit and the control circuit,is designed based on ARM platform.What's more,the output data of accelerometer and gyroscope is merged together in the software and the four-rotor aircraft obliquity signal noise is filtered by the complementary filter.By this way,the real attitude information of UAV can be got by the self-balancing algorithm.Finally,to verify the effectiveness of UAV route planning algorithms,simulation experiment is carried out under C#environment.Based on the contour model,obstacle avoidance paths according to the Maximin principle and the improved algorithm are calculated respectively and the experimental results show that the optimized algorithm is feasible and effective.