Title: Obstacle detection and collision avoidance using indoor quadrocopter

Authors: Emre Kiyak; Gokhan Gol; T. Hikmet Karakoc

Addresses: Department of Avionics, Anadolu University, Eskisehir, 26555, Turkey ' Department of Avionics, Anadolu University, Eskisehir, 26555, Turkey ' Department of Airframe and Powerplant Maintenance, Anadolu University, Eskisehir, 26555, Turkey

Abstract: In this paper, autonomous control of the rotary-wing unmanned aerial vehicle (UAV) is provided by avoiding obstacles indoor area. There are many GPS-based studies on controlling of quadrocopter in the outdoor area in available studies. This paper, unlike others, provides that quadrocopter is controlled with fuzzy and PID control techniques indoor area autonomously. This study is performed by integration the obstacle avoidance algorithm used in a land robot into our system. Successful results are obtained by being tested the application in real life.

Keywords: quadrocopter; obstacle avoidance; fuzzy controller; PID controller.

DOI: 10.1504/IJSA.2017.090297

International Journal of Sustainable Aviation, 2017 Vol.3 No.4, pp.297 - 311

Received: 23 Feb 2017
Accepted: 09 Oct 2017
Published online: 09 Mar 2018 *

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