A Hybrid Approach for Autonomous Collision-Free UAV Navigation in 3D Partially Unknown Dynamic Environments
- Elmokadem, Taha
- Savkin, Andrey V.
- González Aguilera, Diego 1
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1
Universidad de Salamanca
info
ISSN: 2504-446X
Datum der Publikation: 2021
Ausgabe: 5
Nummer: 3
Seiten: 57
Art: Artikel
Andere Publikationen in: Drones
Zusammenfassung
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
Informationen zur Finanzierung
Geldgeber
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Australian Government
- AUSMURIB000001 associated with ONR MURI grant N00014-19-1-2571
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