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; thi...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/8819618 |
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| _version_ | 1849395666754732032 |
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| author | Jiandong Guo Chenyu Liang Kang Wang Biao Sang Yulin Wu |
| author_facet | Jiandong Guo Chenyu Liang Kang Wang Biao Sang Yulin Wu |
| author_sort | Jiandong Guo |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a8d08a0a7a924e1694bdc29131ec13e9 |
| 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-a8d08a0a7a924e1694bdc29131ec13e92025-08-20T03:39:32ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742021-01-01202110.1155/2021/88196188819618Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc TrajectoryJiandong Guo0Chenyu Liang1Kang Wang2Biao Sang3Yulin Wu4Key Laboratory of Unmanned Aerial Vehicle Technology of the Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaThis 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.http://dx.doi.org/10.1155/2021/8819618 |
| spellingShingle | Jiandong Guo Chenyu Liang Kang Wang Biao Sang Yulin Wu Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory International Journal of Aerospace Engineering |
| title | Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory |
| title_full | Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory |
| title_fullStr | Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory |
| title_full_unstemmed | Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory |
| title_short | Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory |
| title_sort | three dimensional autonomous obstacle avoidance algorithm for uav based on circular arc trajectory |
| url | http://dx.doi.org/10.1155/2021/8819618 |
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