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Collision-avoided Tracking Control of UAV Using Velocity-adaptive 3D Local Path Planning

Dongwoo Seo and Jaeyoung Kang*
International Journal of Control, Automation, and Systems, vol. 21, no. 1, pp.231-243, 2023

Abstract : "This study proposes a novel velocity-adaptive 3D local path planning algorithm (3DLPP) for single unmanned aerial vehicle (UAV) flying along a reference trajectory with obstacle collision avoidance (CA) in realtime. In the local path planning, local path candidates are generated in three-dimensional space to avoid obstacles in real time using cost functions. Velocity and acceleration profiles are estimated in real-time using model predictive control law (MPC) with the well-defined cost function minimizing centripetal acceleration. It is accentuated that the velocity and acceleration profiles are not pre-defined, but optimally determined in the current local path. Then, the UAV is controlled to fly along the selected desired trajectory using sliding mode control (SMC) and Lyapunov stability theory-based control law (LSTC) with the updated velocity and acceleration profiles. Finally, the simulation confirmed that the UAV tracked the baseline and avoided all obstacles by moving in the omni-direction suppressing the centripetal acceleration of UAV during maneuvering. "

Keyword : Collision avoidance, local path planning, tracking control, unmanned aerial vehicle, velocity-adaptive.

 
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