Research On Flight Obstacle Avoidance Algorithm About Quadrocopter Based On Infrared Detection

Quadrocopter with its simple structure,easy maintenance,and easily achieve vertical takeoff and landing, hover rotation, omni-directional flight and other flexible movements, and easy to carry such as camera, GPS navigation, wireless communications and other expansion equipment. With the popularity of the quadrocopter and the increasingly prominent security issues, this paper aims to explore the quadrocopter to avoid obstacles.Attitude control, this paper uses MPU6050 based sensor module as the data source of quadrocopter’s attitude.And we used STM32F103C8T6 as the main control chip. We get the pitch angle, roll angle, and yaw rate data, and used the serial PID control algorithm to control the quadrocopter’s attitude and achieve a smooth flights.In Wireless remote control aspects, we use mobile as a remote control device when it running a quadrocopter control App. We used WiFi module as data receive unit. The mobile send data to the aircraft and realize the control on the fly by using TCP/IP protocol.About the autonomous obstacle avoidance, we use the data measured by SHARP infrared distance measurement module as a basis for obstacle avoidance. The quadrocopter equipped with two infrared distance sensor on the top surface. The sensor uninterrupted rotate and scanning 360 degree in horizontal direction. And we arranged on the bottom surface of a ultrasonic module, measure distance downward from the ground. Ranging operation and data acquisition are unified controlled by a STM32 chip. After data processing, the data is distributed to the main control chip through the serial port. And to realize the fixed point on the horizontal plane and lock the heading angle by matching the data scan by sensor with minimum variance method. After the fusion of remote data, we can get a new control command, and then passed to the attitude control program, and then to achieve autonomous obstacle avoidance action.Based on the calculation and analysis of the infrared radar data, this paper verifies the effectiveness of the designed data processing algorithm, and puts forward some deficiencies and improvement ideas.