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 ed. lit. 1
  1. 1 Universidad de Salamanca
    info

    Universidad de Salamanca

    Salamanca, España

    ROR https://ror.org/02f40zc51

Journal:
Drones

ISSN: 2504-446X

Year of publication: 2021

Volume: 5

Issue: 3

Pages: 57

Type: Article

DOI: 10.3390/DRONES5030057 GOOGLE SCHOLAR lock_openOpen access editor

More publications in: Drones

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Metrics

Cited by

  • Web of Science Cited by: 11 (09-09-2023)
  • Dimensions Cited by: 9 (30-03-2023)

JCR (Journal Impact Factor)

  • Year 2021
  • Journal Impact Factor: 5.532
  • Journal Impact Factor without self cites: 4.848
  • Article influence score: 0.89
  • Best Quartile: Q2
  • Area: REMOTE SENSING Quartile: Q2 Rank in area: 10/34 (Ranking edition: SCIE)

SCImago Journal Rank

  • Year 2021
  • SJR Journal Impact: 0.995
  • Best Quartile: Q1
  • Area: Information Systems Quartile: Q1 Rank in area: 82/380
  • Area: Computer Science Applications Quartile: Q1 Rank in area: 171/791
  • Area: Aerospace Engineering Quartile: Q1 Rank in area: 21/140
  • Area: Control and Systems Engineering Quartile: Q1 Rank in area: 66/281
  • Area: Artificial Intelligence Quartile: Q2 Rank in area: 79/286

Scopus CiteScore

  • Year 2021
  • CiteScore of the Journal : 7.2
  • Area: Aerospace Engineering Percentile: 91
  • Area: Computer Science Applications Percentile: 83
  • Area: Information Systems Percentile: 83
  • Area: Control and Systems Engineering Percentile: 82
  • Area: Artificial Intelligence Percentile: 76

Journal Citation Indicator (JCI)

  • Year 2021
  • Journal Citation Indicator (JCI): 0.94
  • Best Quartile: Q2
  • Area: REMOTE SENSING Quartile: Q2 Rank in area: 18/57

Dimensions

(Data updated as of 30-03-2023)
  • Total citations: 9
  • Recent citations: 9
  • Field Citation Ratio (FCR): 6.64

Abstract

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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Funding information

Funders

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

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