Research On Obstacle Avoidance Method Of Uav Based On Fuzzy Control Algorithm

In the past few years,with the rapid development of mobile terminals,related industrial chains,such as microcontrollers,inertial sensors,and communication chips,have matured.UAVs have been extended from the original combat,patrol,and reconnaissance fields to many industrial and civil scenes due to their mobility and flexibility.With the increasing popularity of the UAV application industry,the natural navigation environment has become more and more complex.How to ensure the safety of UAVs,successfully complete the work objectives and how to prevent UAV collisions or traffic accidents from occurring,Obstacle avoidance of unmanned aircraft has become more and more important and has become a hot spot in UAV research.The research in this paper is carried out with this as the core,using multi-sensor technology to collect information about related obstacles,and then analyze and identify the collected data,and use the fuzzy control algorithm to construct the UAV multi-transmission based on the obstacle information obtained from the analysis.Sensory information fusion obstacle avoidance method,improve the accuracy of UAV obstacle avoidance and optimize the obstacle avoidance planning path,and realize the autonomous obstacle avoidance function of single and multiple obstacles of UAV.First,the UAV is modeled dynamically,and the obstacles with different characteristics of the threat from the terrain,the threat from other UAVs,and the climate threat are analyzed.Synthesize and classify the obstacle position and distance information measured by ultrasonic and laser,and fusion and classify the data,and then use the fuzzy control method to fuzzify the input data,and then combine people’s obstacle avoidance habits to perform Processing,construct the corresponding fuzzy control rules based on existing experience and knowledge,and derive the output to realize the rotation speed of the quad-rotor motor corresponding to the steering of the UAV,and realize the flight of the UAV’s obstacle avoidance path.Secondly,this paper adopts a cascade control algorithm structure,outer loop fuzzy obstacle avoidance control + inner loop PID position control,the outer loop fuzzy control logic input is the sensor fusion detected obstacle distance and sensor position number,and the output is the X position offset and Y position offset.The inner loop PID position inputs the speed error,and the output is the PWM wave to adjust the speed of the motor.The improvement of the algorithm is reflected in the improvement of fuzzy control results and rules.Finally,the obstacle avoidance effect and accuracy of the algorithm are studied through simulation experiment and flight test experiment.The multi-sensor information fusion UAV obstacle avoidance experiment is divided into three groups,the obstacle avoidance effect of the algorithm and the accuracy of the algorithm are verified through simulation experiments,the identification and information fusion of different obstacles are verified through sensor test experiments,and simulation software is compiled to achieve a single Obstacles and multi-obstacle simulation tests to verify whether the algorithm can achieve UAV flight avoidance.The research results show that the algorithm in this paper can realize the obstacle avoidance of UAV in single obstacle and multiple obstacles.