A Hybrid Approach for Autonomous Collision-Free UAV Navigation in 3D Partially Unknown Dynamic Environments

  1. Elmokadem, Taha
  2. Savkin, Andrey V.
  3. González Aguilera, Diego 1
  1. 1 Universidad de Salamanca
    info

    Universidad de Salamanca

    Salamanca, España

    ROR https://ror.org/02f40zc51

Revista:
Drones

ISSN: 2504-446X

Año de publicación: 2021

Volumen: 5

Número: 3

Páginas: 57

Tipo: Artículo

DOI: 10.3390/DRONES5030057 GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Drones

Resumen

In the past decades, unmanned aerial vehicles (UAVs) have emerged in a wide range of applications. Owing to the advances in UAV technologies related to sensing, computing, power, etc., it has become possible to carry out missions autonomously. A key component to achieving this goal is the development of safe navigation methods, which is the main focus of this work. A hybrid navigation approach is proposed to allow safe autonomous operations in three-dimensional (3D) partially unknown and dynamic environments. This method combines a global path planning algorithm, namely RRT-Connect, with a reactive control law based on sliding mode control to provide quick reflex-like reactions to newly detected obstacles. The performance of the suggested approach is validated using simulations

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Información de financiación

Financiadores

  • Australian Government
    • AUSMURIB000001 associated with ONR MURI grant N00014-19-1-2571

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