FPGA-Based Fault-Tolerant Quadcopter with Fuzzy Obstacle Avoidance

Abstract

Quadcopters have recently become a very important component in search and rescue missions. This paper proposes solutions to several problems facing quadcopters in such missions. First, it is proposed to enable the quadcopter to change its shape depending on whether it is in traveling or reconnaissance mode. Each flying mode will have a different controller architecture housed on an FPGA. Then, two specific hazards in disastrous areas, are addressed, namely radiation affecting system electronics and unclear paths. First, a fault-tolerant FPGA-based architecture is developed and it is proven through reliability modeling that it considerably extends lifetime. Second, fuzzy logic is used to design an obstacle avoidance system and its excellent performance in collision avoidance was shown through MATLAB simulations.