An Innovative Obstacle Avoidance Algorithm for UAV Based on Hemispherical Optimal Path

Jiandong Guo, Zhenquan Qian, Mengjie Zhu, Hui Liu, Zhenguang Liu

2022

Abstract

A novel three-dimensional (3D) autonomous real-time obstacle avoidance algorithm based on hemispherical optimal path is proposed in this paper to solve the problem of obstacle avoidance during the flight for UAVs. Firstly, the irregular obstacles are modelled by one or more hemispheres, which are used to cover the whole or key parts of the obstacles. Then, the avoidance strategy is obtained and the optimal arc avoidance trajectory is calculated according to the geometric relationship between the obstacle model and UAV, and the obstacle avoidance problem is transformed into the avoidance trajectory tracking problem. Finally, according to the fixed distance limit of the nonlinear guidance parameters, the variable gain virtual reference point is designed, the stability condition of trajectory tracking is analyzed, and combined with altitude guidance law to develop the 3D trajectory tracking control and autonomous real-time obstacle avoidance. The nonlinear numerical simulation of a type of UAV shows that the presented obstacle avoidance algorithm can avoid obstacles effectively with high accuracy for 3D trajectory tracking, which can be applied to UAV’s obstacle avoidance missions.

Paper Citation

in Harvard Style

Guo J., Qian Z., Zhu M., Liu H. and Liu Z. (2022). An Innovative Obstacle Avoidance Algorithm for UAV Based on Hemispherical Optimal Path. In Proceedings of the 3rd International Symposium on Automation, Information and Computing - Volume 1: ISAIC; ISBN 978-989-758-622-4, SciTePress, pages 835-844. DOI: 10.5220/0012243300003612

in Bibtex Style

@conference{isaic22,
author={Jiandong Guo and Zhenquan Qian and Mengjie Zhu and Hui Liu and Zhenguang Liu},
title={An Innovative Obstacle Avoidance Algorithm for UAV Based on Hemispherical Optimal Path},
booktitle={Proceedings of the 3rd International Symposium on Automation, Information and Computing - Volume 1: ISAIC},
year={2022},
pages={835-844},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012243300003612},
isbn={978-989-758-622-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 3rd International Symposium on Automation, Information and Computing - Volume 1: ISAIC
TI - An Innovative Obstacle Avoidance Algorithm for UAV Based on Hemispherical Optimal Path
SN - 978-989-758-622-4
AU - Guo J.
AU - Qian Z.
AU - Zhu M.
AU - Liu H.
AU - Liu Z.
PY - 2022
SP - 835
EP - 844
DO - 10.5220/0012243300003612
PB - SciTePress