Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory

This paper proposes an innovative and efficient three-dimensional (3D) autonomous obstacle algorithm for unmanned aerial vehicles (UAVs) which works by generating circular arc trajectories to avoid obstacles. Firstly, information on irregular obstacles is obtained by an onboard detection system; this information is then transformed into standard convex bodies, which are used to generate circular arc avoidance trajectories, and the obstacle avoidance problem is turned into a trajectory tracking strategy. Then, on the basis of the geometric relationship between a UAV and obstacle modeling, the working mechanism of the avoidance algorithm is developed. The rules of obstacle detection, avoidance direction, and the criterion of avoidance success are defined for different obstacle types. Finally, numerical simulations of different obstacle scenarios show that the proposed algorithm can avoid static and dynamic obstacles effectively and can implement obstacle avoidance missions for UAVs well.

Automated summary

This paper presents an innovative and efficient 3D autonomous obstacle algorithm for UAVs, utilizing circular arc trajectories to avoid obstacles and transforming irregular obstacles into standard convex bodies for trajectory generation. By defining rules for obstacle detection, avoidance direction, and success criteria, the algorithm is able to effectively avoid both static and dynamic obstacles in simulation scenarios.