Research on Obstacle Avoidance Technology of Fire Fighting UAV

In this paper, two basic aspects of multi-rotor UAV, the air braking capability and obstacle avoidance function, are analyzed and studied on a certain type of fire-fighting UAV. Firstly, based on the motion model, the force analysis of the UAV is carried out to explore the factors that affect the braking ability; the mathematical relationship is established between the influencing factors and the braking distance, and the braking problem is solved in PYTHON. After that, the obstacle avoidance function of the multi-rotor UAV is developed based on the ROS environment. Several commonly used obstacle detection technologies and path planning algorithms are introduced and their advantages and disadvantages are compared. Under the ROS environment, simulating the advanced obstacle avoidance strategy according to VFH algorithm, and using PX4 external control mode in Gazebo simulation environment to verify the feasibility of the designed obstacle avoidance strategy. The results show that in actual flight, when the braking pitch angle is 30°, the UAV can slow down and hover within a safe distance of 10 m, meanwhile the advanced strategy based on VFH algorithm can be realized in simulation environment.