Abstract
Trajectory tracking with collision avoidance for a multicopter is solved based on geometrical relations. In this paper, a new method is proposed for a multicopter to move from the start position to a desired destination and track a pre-planned trajectory, while avoiding collisions with obstacles. The controller consists of two parts: First, a tracking control is introduced based on the errors between the relative position of the multicopter and the reference path. Second, once the obstacles with a high possibility of collision are detected, a boundary sphere/cylinder of the obstacle is generated by the dimensions of the vehicle and the obstacles, so as to define the safety and risk areas. Afterwards, from the relation between the vehicle’s motion direction, and the tangential lines from the vehicle’s current position to the sphere/cylinder of the obstacle, a collision detection angle is computed to decide the fastest direction to take in order to avoid a collision. The obstacle/collision avoidance control is activated locally when an object is close, and null if the vehicle moves away from the obstacles. The velocity control law and the guidance law are obtained from the Lyapunov stability. In addition, a proportional controller is used at the end of vehicle’s journey to ensure the vehicle stops at the target position. A numerical simulation in different scenarios was performed to prove the effectiveness of the proposed algorithm.
Highlights
Today, multicopters are being used more frequently due to the their many practical applications, especially in places where the working environment is dangerous or human capacity is limited, such as data collection [1,2], search and rescue [3], payload carrying [4], crop spraying in agriculture [5,6,7], and military operations [8,9]
The problem of avoiding collisions between a multicopter and a variety of moving objects or stationary objects is extremely important in autonomous flight. This is especially true in some applications that require the combination of trajectory tracking with collision avoidance, such as crop spraying in agriculture, which requires the multicopter to move from the start position to a desired destination point and track a pre-planned trajectory with a reference speed, while avoiding collisions with obstacles
The coordination between the tracking control and the collision avoidance control must be harmonized to ensure that the vehicle operates safely and efficiently
Summary
Multicopters are being used more frequently due to the their many practical applications, especially in places where the working environment is dangerous or human capacity is limited, such as data collection [1,2], search and rescue [3], payload carrying [4], crop spraying in agriculture [5,6,7], and military operations [8,9]. The problem of avoiding collisions between a multicopter and a variety of moving objects or stationary objects is extremely important in autonomous flight This is especially true in some applications that require the combination of trajectory tracking with collision avoidance, such as crop spraying in agriculture, which requires the multicopter to move from the start position to a desired destination point and track a pre-planned trajectory with a reference speed, while avoiding collisions with obstacles. In this case, the coordination between the tracking control and the collision avoidance control must be harmonized to ensure that the vehicle operates safely and efficiently. These studies introduce methods for trajectory tracking or target tracking of the UAVs with an object, but they do not consider collision avoidance
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