Design Of Obstacle Avoidance System For Multi-rotor Drones Based On Multi-sensor Fusion

Multi-rotor Drones are applied in many fields such as power inspection,logistics,aerial photography,plant protection,emergency rescue and disaster relief,etc.However,they often encounter various obstacles when performing tasks.Autonomous obstacle avoidance technology is conducive to improving the safety,stability and intelligence of multi-rotor Drone systems.Therefore,focused on the research of multi-rotor Drone obstacle avoidance system with multi-sensor fusion,the contents are as follows.(1)Aiming at the multi-rotor Drone obstacle avoidance system with multi-sensor fusion,the design requirements are analyzed,the obstacle avoidance modules of multi-rotor Drone laser radar and millimeter wave radar sensors are selected,other airborne sensor modules are designed,and the hardware platform of multi-rotor Drone obstacle avoidance system is built.(2)On the built hardware platform,the two-step delay adaptive spatio-temporal information fusion algorithm is adopted to fuse the information of lidar and millimeter wave radar,which is verified by experiments.(3)Aiming at indoor flight environment,the path planning based on A~*algorithm is realized.On the completed environmental map,the indoor obstacle avoidance of multi-rotor Drone based on the A~*algorithm is verified by experiments.(4)Formulate different obstacle avoidance strategies for outdoor obstacles with different widths and fast flight conditions.The outdoor obstacle avoidance strategy of multi-rotor Drone is verified by experiments.The experimental data are processed and analyzed,which verifies the effectiveness and rationality of the multi-rotor Drone obstacle avoidance system designed in this paper,thus proving that the designed multi-rotor Drone obstacle avoidance system with multi-sensor fusion has certain practical significance.