An algorithm for dynamic obstacle avoidance applied to UAVs

IF 4.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2025-01-01 DOI:10.1016/j.robot.2024.104907

Julian Rascon Enriquez , Bernardino Castillo-Toledo , Stefano Di Gennaro , Luis Arturo García-Delgado

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引用次数: 0

Abstract

This research focuses on developing a navigation method for mobile robots to effectively avoid moving obstacles while accurately tracking a desired path. The approach introduces an enhanced velocity field that incorporates hydrodynamic theory tools. Initially designed for the 2D case, the method is subsequently extended to the 3D scenario by introducing vector field extensions and rotations.

To validate the proposed scheme, experiments are conducted using a UAV model tasked with tracking a circular contour. The control system employs two PD controllers for regulating the vertical position (

z

) and yaw angle (

ψ

), while the roll (

ϕ

) and pitch (

θ

) angles are controlled using a nested saturation method.

The numerical results demonstrate the successful achievement of the tracking objective, even when a moving obstacle crosses the reference path. Notably, this study considers the scenario where an obstacle approaches the vehicle from behind, which is often overlooked in similar investigations. This aspect is examined in both the 2D and 3D cases.

Subsequently, the proposed navigation method is tested on a quadrotor vehicle, yielding favorable results.

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.