Design of four rotor aircraft with obstacle avoidance

Haochen Wang; Hao Mei; Yaozhong Hu

doi:10.31686/ijier.vol10.iss5.3570

Authors

Haochen Wang Shanghai University of Engineering Sciences
Hao Mei Shanghai University of Engineering Sciences
Yaozhong Hu Shanghai University of Engineering Science

DOI:

https://doi.org/10.31686/ijier.vol10.iss5.3570

Keywords:

quadrotor, gyroscope, optical flow sensor, PID

Abstract

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.

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Author Biographies

Haochen Wang, Shanghai University of Engineering Sciences

School of Electronic and Electrical Engineering.
Hao Mei, Shanghai University of Engineering Sciences

School of Electronic and Electrical Engineering.
Yaozhong Hu, Shanghai University of Engineering Science

School of Electronic and Electrical Engineering.

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