Research On Obstacle Avoidance Method Of Quadcopter Based On Improved D-S Evidence Theory

In recent years,with the rapid development of technologies such as computers,MEMS,sensors,and intelligent control,quadcopter have stood out in rotor-type drones,re-engaging the public's vision,and have received major universities,research institutions,and technology companies.With the attention of the units,the technical research on the quadcopter is rapidly expanding.In the military field,due to the wide application of quadcopter,it has become a new type of combat method for enemy investigations on the battlefield.In the civilian field,a large number of traditional industries such as power lines,plant protection sprays,aerial photography,and freight transportation have become more simplistic and intelligent due to the emergence of quadcopters.However,no matter what kind of mission is performed,safety during flight is still a major premise,which requires the quadrilateral aircraft to have the capability of autonomous obstacle detection.Aiming at the problem of autonomous detection and obstacle avoidance of quadcopter,this paper proposes a quadcopter obstacle avoidance method based on improved D-S evidence theory.In this paper,the mechanical structure,flight principle,coordinate system and coordinate transformation knowledge of the quadcopter are analyzed firstly.The obstacle avoidance principle of the quadcopter and the commonly used sensors and detection techniques are introduced,and the principle is explained.Then,for the problem of low recognition accuracy of obstacles for a single sensor,multi-sensor information fusion technology is introduced,and its principle and method are studied.The D-S evidence theory algorithm is elaborated and the insufficiency of its fusion rules is analyzed.Starting from the lack of evidence conflict,the evidence right is introduced.In order to find the optimal evidence weight,a D-S evidence theory algorithm based on FOA improvement is proposed.Finally,according to the functional characteristics of various sensors and the requirements of the quadcopter obstacle avoidance sensor,the obstacle avoidance detection system scheme using three sensors is determined,which are ultrasonic ranging sensor,infrared ranging sensor and laser radar.Sensors take different methods to identify obstacles and environmental information from different angles.The sensor position layout diagram is designed,and a quadcopter obstacle avoidance scheme based on improved D-S evidence theory for multi-sensor information fusion is proposed.Through a series of simulations,contrast experiments and results analysis of the scheme,the experimental results show that the proposed method has better obstacle recognition effect and can improve the obstacle avoidance accuracy of the quadcopter.