Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search
Control and path planning are two essential and challenging issues in quadrotor unmanned aerial vehicle (UAV). In this paper, an approach for moving around the nearest obstacle is integrated into an artificial potential field (APF) to avoid the trap of local minimum of APF. The advantage of this app...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
|
| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/5524841 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832560531049807872 |
|---|---|
| author | Tianpeng Huang Deqing Huang Na Qin Yanan Li |
| author_facet | Tianpeng Huang Deqing Huang Na Qin Yanan Li |
| author_sort | Tianpeng Huang |
| collection | DOAJ |
| description | Control and path planning are two essential and challenging issues in quadrotor unmanned aerial vehicle (UAV). In this paper, an approach for moving around the nearest obstacle is integrated into an artificial potential field (APF) to avoid the trap of local minimum of APF. The advantage of this approach is that it can help the UAV successfully escape from the local minimum without collision with any obstacles. Moreover, the UAV may encounter the problem of unreachable target when there are too many obstacles near its target. To address the problem, a parallel search algorithm is proposed, which requires UAV to simultaneously detect obstacles between current point and target point when it moves around the nearest obstacle to approach the target. Then, to achieve tracking of the planned path, the desired attitude states are calculated. Considering the external disturbance acting on the quadrotor, a nonlinear disturbance observer (NDO) is developed to guarantee observation error to exponentially converge to zero. Furthermore, a backstepping controller synthesized with the NDO is designed to eliminate tracking errors of attitude. Finally, comparative simulations are carried out to illustrate the effectiveness of the proposed path planning algorithm and controller. |
| format | Article |
| id | doaj-art-7db82bf745b34e9d902ca04103acf39f |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-7db82bf745b34e9d902ca04103acf39f2025-02-03T01:27:19ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742021-01-01202110.1155/2021/55248415524841Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel SearchTianpeng Huang0Deqing Huang1Na Qin2Yanan Li3School of Electrical Engineering, Southwest Jiaotong University, Chengdu, ChinaSchool of Electrical Engineering, Southwest Jiaotong University, Chengdu, ChinaSchool of Electrical Engineering, Southwest Jiaotong University, Chengdu, ChinaDepartment of Engineering and Design, University of Sussex, Brighton BN1 9RH, UKControl and path planning are two essential and challenging issues in quadrotor unmanned aerial vehicle (UAV). In this paper, an approach for moving around the nearest obstacle is integrated into an artificial potential field (APF) to avoid the trap of local minimum of APF. The advantage of this approach is that it can help the UAV successfully escape from the local minimum without collision with any obstacles. Moreover, the UAV may encounter the problem of unreachable target when there are too many obstacles near its target. To address the problem, a parallel search algorithm is proposed, which requires UAV to simultaneously detect obstacles between current point and target point when it moves around the nearest obstacle to approach the target. Then, to achieve tracking of the planned path, the desired attitude states are calculated. Considering the external disturbance acting on the quadrotor, a nonlinear disturbance observer (NDO) is developed to guarantee observation error to exponentially converge to zero. Furthermore, a backstepping controller synthesized with the NDO is designed to eliminate tracking errors of attitude. Finally, comparative simulations are carried out to illustrate the effectiveness of the proposed path planning algorithm and controller.http://dx.doi.org/10.1155/2021/5524841 |
| spellingShingle | Tianpeng Huang Deqing Huang Na Qin Yanan Li Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search International Journal of Aerospace Engineering |
| title | Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search |
| title_full | Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search |
| title_fullStr | Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search |
| title_full_unstemmed | Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search |
| title_short | Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search |
| title_sort | path planning and control of a quadrotor uav based on an improved apf using parallel search |
| url | http://dx.doi.org/10.1155/2021/5524841 |
| work_keys_str_mv | AT tianpenghuang pathplanningandcontrolofaquadrotoruavbasedonanimprovedapfusingparallelsearch AT deqinghuang pathplanningandcontrolofaquadrotoruavbasedonanimprovedapfusingparallelsearch AT naqin pathplanningandcontrolofaquadrotoruavbasedonanimprovedapfusingparallelsearch AT yananli pathplanningandcontrolofaquadrotoruavbasedonanimprovedapfusingparallelsearch |