期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 21, 期 1, 页码 231-243出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-021-0666-z
关键词
Collision avoidance; local path planning; tracking control; unmanned aerial vehicle; velocity-adaptive
This study proposes a novel velocity-adaptive 3D local path planning algorithm (3DLPP) for single unmanned aerial vehicle (UAV) flying along a reference trajectory with obstacle collision avoidance (CA) in realtime. In the local path planning, local path candidates are generated in three-dimensional space to avoid obstacles in real time using cost functions. The simulation confirmed that the UAV tracked the baseline and avoided all obstacles by moving in the omni-direction suppressing the centripetal acceleration of UAV during maneuvering.
This study proposes a novel velocity-adaptive 3D local path planning algorithm (3DLPP) for single unmanned aerial vehicle (UAV) flying along a reference trajectory with obstacle collision avoidance (CA) in realtime. In the local path planning, local path candidates are generated in three-dimensional space to avoid obstacles in real time using cost functions. Velocity and acceleration profiles are estimated in real-time using model predictive control law (MPC) with the well-defined cost function minimizing centripetal acceleration. It is accentuated that the velocity and acceleration profiles are not pre-defined, but optimally determined in the current local path. Then, the UAV is controlled to fly along the selected desired trajectory using sliding mode control (SMC) and Lyapunov stability theory-based control law (LSTC) with the updated velocity and acceleration profiles. Finally, the simulation confirmed that the UAV tracked the baseline and avoided all obstacles by moving in the omni-direction suppressing the centripetal acceleration of UAV during maneuvering.
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