Research And Application Of Intelligent Obstacle Avoidance System For Uav Based On Multi Source Information Fusion

In recent years the rotor UAV often crash,fry,and hurt people during the execution of the task.It is imminent to solve the problem of Safe Obstacle Avoidance for UAV effectively.Because the obstacle object uncertainty and diversity,and the limitation of single sensor’s quality,performance and other aspects,most of the current UAV obstacle avoidance system exists many problems.Such as ranging accuracy is not high,bad stability and environmental adaptability,obstacle avoidance action slow response etc.In order to solve this problem,the research and application of the UAV obstacle avoidance system based on multi source information fusion is carried out in this paper.The following work has been carried out in detail:In the detection of obstacles,first of all,a high precision temperature sensor and a single chip microcomputer with high timing accuracy are adopted for the ultrasonic distance measuring system to reduce the distance error;a single camera ranging system based on image target model and nonlinear fitting method is designed.The calibration process of visual distance measurement is simplified,and the efficiency of distance measurement and the real-time performance of obstacle avoidance are improved.A passive array magnetic induction antenna is designed to detect the unmanned aerial vehicle(UAV)on transmission lines and other charged obstacles.The environmental adaptability of the system is improved.Then,a multisource information fusion algorithm based on multilevel distributed and Kalman filter is proposed.The distance precision of the obstacle detection system and the ability of the UAV to predict the obstacles are further improved.In the control of the unmanned aerial vehicle(UAV)for obstacle avoidance,this article is inspired by the pilot’s control of the evasion of the unmanned aerial vehicle(UAV).Based on the control principle of the remote control to the UAV,an intelligent obstacle avoidance control system is added between the remote controller and the flight controller.By reconstructing the output signal of the remote control receiver,the corresponding obstacle avoidance control strategy is implemented for the UAV.Finally,on the basis of sufficient research on relevant theoretical knowledge,through a comparative analysis of a large number of experimental results,the overall design of the system and the software and hardware design of each component are completed.The system has been successfully applied in the project of highway inspection,agricultural plant protection and electric power patrol.Compared with the traditional single sensor,this system greatly improves the accuracy,real-time and environmental adaptability of the obstacle detection system.Using the obstacle avoidance controller independent of the flight processor,it not only effectively reduces the flight control load,but also improves the stability and reliability of the obstacle avoidance system.