Obstacle Avoidance for Unmanned Aerial Vehicle Trajectory Planning Using Virtual Convex Projection Technique

2021 ◽  
pp. 1-12
Author(s):  
Zichen Zhao ◽  
Haibin Shang ◽  
Yue Dong
Keyword(s):  
Obstacle Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Projection Technique ◽  
Aerial Vehicle ◽  
Vehicle Trajectory

Optimized artificial potential field algorithm to multi-unmanned aerial vehicle coordinated trajectory planning and collision avoidance in three-dimensional environment

2019 ◽  
Vol 233 (16) ◽  
pp. 6032-6043 ◽  
Author(s):  
Jun Tang ◽  
Jiayi Sun ◽  
Cong Lu ◽  
Songyang Lao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Potential Field ◽  
Three Dimensional ◽  
Artificial Potential Field ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Vehicle Trajectory

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.

Monocular vision based obstacle avoidance trajectory planning for Unmanned Aerial Vehicle

2020 ◽  
Vol 106 ◽  
pp. 106199
Author(s):  
Zhouyu Zhang ◽  
Yunfeng Cao ◽  
Meng Ding ◽  
Likui Zhuang ◽  
Jiang Tao
Keyword(s):  
Obstacle Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Monocular Vision ◽  
Aerial Vehicle
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