Fuzzy control for the obstacle avoidance of a quadrotor UAV

摘要

To solve the presence of the phantom phenomenon when single ultrasonic sensor detects obstacles, this paper proposes a multi-ultrasonic sensors design using grouping cycle emission. Using the fuzzy control algorithm in the obstacle avoidance simulation, the quadrotorflies through an unknown environment. The simulation results show that the algorithm can meet the requirements of the quadrotor obstacle avoidance, and have the characteristics of real-time and accuracy, provide the foundation for further practical application.