Fuzzy-Based Obstacle Avoidance System For Quadrotor Unmanned Aerial Vehicle
this paper presentsa fuzzy-based obstacle detection and avoidance system fora quadrotor unmanned aerial vehicle
using an ultrasonic sensors. The system enables quadrotor to adaptively interactwith a dynamic circumstanceusing a reactive
technique determined by sensory information. Ultrasonic sensory information is gleaned from a spherical sensor array and
sent to the fuzzy logic controller. The controller is then command the flight controllerto gradually correct quadrotor’s
orientation according to the changes in the patterns of the range values collected from the consecutive frames.The system
was implemented and tested using Arduino Nano board. The board was programmed and interfaced with the original
circuitry kit. Experimental results have shown that the proposed control strategy provides an efficient collision avoidance
schemes for an unknown environment.
Index Terms- Unmanned aerial vehicle, Quadrotor, Ultrasonic distance sensors, Collision avoidance, Arduino Nano.