3D Obstacle Avoidance in Adversarial Environments for Unmanned Aerial Vehicles

2006 ◽  
Author(s):  
Stewart Geyer ◽  
Eric Johnson
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Aerial Vehicles ◽  
Adversarial Environments

Suboptimal trajectory programming for unmanned aerial vehicles with dynamic obstacle avoidance

2018 ◽  
Vol 233 (10) ◽  
pp. 3857-3869
Author(s):  
Hang Guo ◽  
Wen-xing Fu ◽  
Bin Fu ◽  
Kang Chen ◽  
Jie Yan
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Optimization ◽  
Sliding Mode ◽  
Aerial Vehicles ◽  
Slack Variables ◽  
Dynamic Obstacle Avoidance ◽  
Aerial Vehicle ◽  
Dynamic Obstacle

With regard to the dynamic obstacles current unmanned aerial vehicles encountered in practical applications, an integral suboptimal trajectory programming method was proposed. It tackled with multiple constraints simultaneously while guiding the unmanned aerial vehicle to execute autonomous avoidance maneuver. The kinetics of both unmanned aerial vehicle and dynamic obstacles were established with appropriate hypotheses. Then it was assumed that the unmanned aerial vehicle was faced with terminal constraints and control constraints in the whole duration. Meanwhile, the performance index was established as minimum control efforts. The initial trajectory was generated according to optimized model predictive static programming. Next, the slack variables were introduced to transform the inequality constraints arising from dynamic obstacle avoidance into equality constraints. In addition, sliding mode control theory was utilized to determine these slack variables' dynamics by designing the approaching law of sliding mode. Then the avoidance trajectory for single or multiple dynamic obstacles was developed by this combined method. At last, a further trajectory optimization was conducted by differential dynamic programming. Consequently, the integral problem was solved step by step and numerical simulations demonstrated that the integral method possessed high computational efficiency.

Obstacle Avoidance for Unmanned Aerial Vehicles: Using Visual Features in Unknown Environments

2019 ◽  
Vol 8 (3) ◽  
pp. 74-80 ◽  
Author(s):  
Ram Prasad Padhy ◽  
Suman Kumar Choudhury ◽  
Pankaj Kumar Sa ◽  
Sambit Bakshi
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Visual Features ◽  
Aerial Vehicles ◽  
Unknown Environments

scholarly journals Computationaly Simple Obstacle Avoidance Control Law for Small Unmanned Aerial Vehicles

2015 ◽  
Vol 9 (1) ◽  
pp. 50-56 ◽  
Author(s):  
Jakub Cieśluk ◽  
Zdzisław Gosiewski ◽  
Leszek Ambroziak ◽  
Sławomir Romaniuk
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Obstacle Avoidance ◽  
Imaging System ◽  
Information Source ◽  
Digital Camera ◽  
Control Law ◽  
Simulation Studies ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Computational Simplicity

Abstract The investigations of the system which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The system is designed to enable the full autonomous UAV flight in an unknown environment. As an information source about obstacles digital camera was used. Developed algorithm uses the existing relations between the imaging system and the parameters read from the UAV autopilot. Synthesis of the proposed obstacle avoidance control law was oriented for computational simplicity. Presented algorithm was checked during simulation studies and in-flight tests.

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