Open AccessDesign of four rotor aircraft with obstacle avoidance
Author(s) -
Haochen Wang,
Hao Mei,
Yaozhong Hu
Publication year - 2022
Language(s) - English
DOI - 10.31686/ijier.vol10.iss5.3570
Subject(s) - tower , control theory (sociology) , computer science , rotor (electric) , pid controller , obstacle avoidance , gyroscope , computer vision , robot , engineering , simulation , artificial intelligence , control engineering , control (management) , mobile robot , electrical engineering , aerospace engineering , temperature control , civil engineering
The system uses TM4C123G as the core of quadrotor autonomous vehicle control, which consists of flight control module, power supply module, motor speed control module, optical flow sensing module, and target tracking identification module. The flight control module includes angle sensor, gyroscope, and TLS1401-LF module. The flight control processes the collected data through the chip (TM4C123G), and processes the data with PID control algorithm, while solving the PWM increment and decrement needed for the corresponding motor, adjusting the motor in time and adjusting the flight attitude. The binocular camera identifies the color of the pole tower and measures the distance, so that the distance between the aircraft and the nearest point of the pole tower is kept within 50±10cm. After detecting the red (green) tower as the center, fly around the tower clockwise (counter) for one week (top view). Finally, the OV7725 camera is used to identify the solid black circle mark of the landing point and land smoothly and accurately in the target area, thus realizing an efficient robot around the barrier.