Integrated real time obstacle avoidance algorithm based on fuzzy logic and L1 control algorithm for unmanned helicopter

Autonomous obstacle avoidance is an indispensable feature of the unmanned helicopter (UMH) to accomplish certain tasks in the complex low-altitude environment. Aiming at the obstacle avoidance problem of unmanned helicopter in unknown environment, this paper designs a new real-time obstacle avoidance algorithm. In this method, the surrounding environment information is acquired by two-dimensional laser, and the detection field is divided into sectors with different radii of equiangular distribution. Combining with the radar data and the fuzzy control method, the UMH judges the distribution of obstacles and performs the corresponding avoidance action to complete the obstacle avoidance. At the same time, this method combines the fuzzy obstacle avoidance algorithm with the L1 control algorithm to achieve better path-tracking and obstacle avoidance effects. Finally, numerical simulation are carried out, and verify the correctness and effectiveness of the algorithm.