A Survey of Indoor UAV Obstacle Avoidance Research

UAV obstacle avoidance technology is one of the key factors to realize UAV autonomous flight, efficient and accurate obstacle avoidance is significant to complete the UAV autonomous flight task. In contrast, the dynamic, real-time and uncertainty of the environment in which the UAV is located makes the problem very tricky, especially in the indoor environment. At present, a large number of scholars have shown strong interest in the indoor UAV obstacle avoidance problem. With the rapid development of computer technology and hardware devices, many intelligent algorithms have been proposed to solve the obstacle avoidance problem. However, the research on indoor UAV obstacle avoidance technology is not comprehensive enough, and there is a lack of summarization of the research results in recent years. This paper introduces the sensor modules commonly used for indoor UAV environment sensing, related obstacle avoidance methods based on sensory detection. Classifies and composes the commonly used UAV path planning obstacle avoidance algorithms, and gives several representative UAV flight control research methods. This paper summarizes the advantages and disadvantages of different perception modules and detection methods applied to UAV obstacle avoidance tasks, and compares various current path planning methods. Finally, the critical difficulties and challenges faced in the field of indoor UAV obstacle avoidance are discussed, and future research in the field of UAV obstacle avoidance has prospected.