基于模糊专家决策的室内无人机避障系统  

Indoor Unmanned Aerial Vehicle (UAV) Obstacle Avoidance System Based on Fuzzy Expert Decision

作　　者：于建均[1] 赵少琼[1] 郑逸加 阮晓钢[1] 吴鹏申 YU Jian-jun;ZHAO Shao-qiong;ZHENG Yi-jia;RUAN Xiao-gang;WU Peng-shen(College of Electronic and Control Engineering, Beijing University of Technology, Beijing 100124, China)

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《控制工程》2019年第3期423-430,共8页Control Engineering of China

基　　金：国家自然科学基金项目(61375086);高等学校博士学科点专项科研基金项目(20101103110007)

摘　　要：为实现四旋翼无人机室内环境下的全方位避障规划,搭建了以超声波传感器检测障碍物的三维检测装置,防止可见光影响的同时降低了系统成本。针对多传感器配置造成模糊规则"爆炸"以及模糊决策冲突问题,采用多级模糊控制器与专家系统相结合的方式进行三维立体避障决策,搭建了基于模糊专家系统的三维避障决策控制系统,进行了模糊控制器以及专家系统的设计,基于MATLAB仿真实验验证了方法的有效性。In order to realize all-round obstacle avoidance planning of quad-rotor unmanned aerial vehicles under the indoor environment, the paper builds a three-dimensional detector by using ultrasonic sensors to detect obstacles so as to avoid the impact of visible light and reduce the system cost. For the problems of fuzzy rule "exploration" and decision conflicts caused by multi-sensor configuration, the paper combines the multilevel fuzzy controller with the expert system to make three-dimensional obstacle avoidance decisions. It sets up the three-dimensional obstacle avoidance decision controlling system based on the fuzzy expert system and designs the fuzzy controller and expert system. The validity of the method is verified by MATLAB simulation.

关 键 词：四旋翼无人机 三维立体避障规划 多级模糊控制 专家系统 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]