Recent years, the flight control technology over quadcopter has been boosted vigorously and acquired the comprehensive application in a variety of industries. However, it is prominent for there to be problems existed in the stable and secure flight with the development of its autonomous flight. Through comparing with the characteristics of ultrasonic ranging and laser Time-of-Flight(abbreviated to ToF) distance as well as vision measurement and its related sensors, the obstacle detection and identification sensors need to be installed in order to effectively enhance the safety flying for aircraft, which is essential for avoiding the dangers around the surroundings. That the major sensors applied to objects perception at present are distance measuring instruments which based on the principle and application of non-contact detection technology . Prior to acknowledging the general principles of flight and obstacle avoiding, the aerodynamics modeling of the quadcopter and its object detection means has been initially determined on this paper. Based on such premise, this article emphasized on describing and analyzing the research on obstacle avoiding technology and its application status, and making an expectation for the trend of its development after analyzing the primary existing problems concerning its accuracy object avoidance.

Obstacle detection and avoiding of quadcopter

To solve the problem of automatic flight of quadrotor UAV indoors or in other complex environments which lack GPS signals,the attitude controller based on backstepping method with sliding mode and the PID position controller were designed respectively on the basis of nonlinear model of quadrotor UAV. Considering the high prices of laser range finder,the method based on infrared sensors and Extended Kalman Filter( EKF) was proposed to achieve indoor autonomous localization,which makes up the shortfall that the infrared sensor can only measure one point at a time. The performance of the designed controller and the localization algorithm were validated by simulation experiments,and the experimental results proved the validity and reliability of the designed indoor autonomous flight method of quadrotor UAV.

Indoor Automatic Flight Control of Quadrotor Aircraft

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Indoor Automatic Flight Control of Quadrotor Aircraft