Three-Dimensional Obstacle Avoidance Strategy for Fixed-Wing UAVs Based on Quaternion Method
Source abstract
Abstract
This work provides a generalization of the three-dimensional velocity obstacle (VO) collision avoidance strategy for nonlinear second-order underactuated systems in three-dimensional dynamic uncertain environments. A hierarchical architecture is exploited to deal with conflicting multiple subtasks, which are defined as several rotations and are parameterized by quaternions. An improved VO method considering the kinodynamic constraints of a class of fixed-wing unmanned aerial vehicles (UAV) is proposed to implement the motion planning. The position error and velocity error can be mapped onto one desired axis so that, only relying on an engine, UAVs can achieve the goal of point tracking without collision. Additionally, the performance of the closed-loop system is demonstrated through a series of simulations performed in a three-dimensional manner.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Path Planning Algorithms · Guidance and Control Systems · Control and Dynamics of Mobile Robots
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Affiliations
National Key Laboratory of Transient Physics, Nanjing University of Science and Technology, Nanjing 210094, China
Funding
Qu Yue
References (31)
Show source-provided references
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