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Path planning and control of a quadrotor UAV based on an improved APF using parallel search

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Version 2 2023-06-12, 09:56
Version 1 2023-06-10, 00:23
journal contribution
posted on 2023-06-12, 09:56 authored by Tianpeng Huang, Deqing Huang, Na Qin, Yanan LiYanan Li
Control and path planning are two essential and challenging issues in quadrotor unmanned aerial vehicle (UAV). In this paper, an approach for moving around the nearest obstacle is integrated into an artificial potential field (APF) to avoid the trap of local minimum of APF. The advantage of this approach is that it can help the UAV successfully escape from the local minimum without collision with any obstacles. Moreover, the UAV may encounter the problem of unreachable target when there are too many obstacles near its target. To address the problem, a parallel search algorithm is proposed, which requires UAV to simultaneously detect obstacles between current point and target point when it moves around the nearest obstacle to approach the target. Then, to achieve tracking of the planned path, the desired attitude states are calculated. Considering the external disturbance acting on the quadrotor, a nonlinear disturbance observer (NDO) is developed to guarantee observation error to exponentially converge to zero. Furthermore, a backstepping controller synthesized with the NDO is designed to eliminate tracking errors of attitude. Finally, comparative simulations are carried out to illustrate the effectiveness of the proposed path planning algorithm and controller.

History

Publication status

  • Published

File Version

  • Published version

Journal

International Journal of Aerospace Engineering

ISSN

1687-5966

Publisher

Hindawi

Volume

2021

Page range

1-14

Article number

a5524841

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2021-07-16

First Open Access (FOA) Date

2021-07-16

First Compliant Deposit (FCD) Date

2021-07-16

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