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...

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Main Authors: Tianpeng Huang, Deqing Huang, Na Qin, Yanan Li
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
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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.
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issn 1687-5966
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language English
publishDate 2021-01-01
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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
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