Control Engineering of China ›› 2019, Vol. 26 ›› Issue (3): 423-430.

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Indoor Unmanned Aerial Vehicle (UAV) Obstacle Avoidance System Based on Fuzzy Expert Decision

  

  • Online:2019-03-20 Published:2023-10-26

基于模糊专家决策的室内无人机避障系统

  

Abstract:

In order to realize all-round obstacle avoidance planning of quad-rotor unmanned aerial vehicles under the indoor environment, the paper builds a three-dimensional detector by using ultrasonic sensors to detect obstacles so as to avoid the impact of visible light and reduce the system cost. For the problems of fuzzy rule “exploration” and decision conflicts caused by multi-sensor configuration, the paper combines the multilevel fuzzy controller with the expert system to make three-dimensional obstacle avoidance decisions. It sets up the three-dimensional obstacle avoidance decision controlling system based on the fuzzy expert system and designs the fuzzy controller and expert system. The validity of the method is verified by MATLAB simulation.

Key words: Four rotor UAV, 3D obstacle avoidance planning, multilevel fuzzy control, expert system

摘要： 为实现四旋翼无人机室内环境下的全方位避障规划，搭建了以超声波传感器检测障碍物的三维检测装置，防止可见光影响的同时降低了系统成本。针对多传感器配置造成模糊规则“爆炸”以及模糊决策冲突问题，采用多级模糊控制器与专家系统相结合的方式进行三维立体避障决策，搭建了基于模糊专家系统的三维避障决策控制系统，进行了模糊控制器以及专家系统的设计，基于MATLAB仿真实验验证了方法的有效性。

关键词: 四旋翼无人机, 三维立体避障规划, 多级模糊控制, 专家系统

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