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Year 2015, Volume: 36 Issue: 3, 105 - 120, 13.05.2015

Mohammad Rezaei , Hossein Bolandi Fateme Jamaldoost Seyedmajid Smailzadeh

Abstract

References

  • Lumelsky, V.and Skewis, T.(1990),”Incorporating Range Sensing in the Robot Navigation Function,” IEEETransactions on Systems, Man, and Cybernetics, 20: pp. 1058–1068.
  • Lumelsky, V. and Stepanov, A. (1990), “Path-Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape,” Autonomous Robot Vehicles,Spinger-Verlag.
  • Kamon, I. and Rivlin, E. and Rimon E. (1996),”A New Range-Sensor Based Globally Convergent Navigation Algorithm for Mobile Robots,” IEEE International Conference on Robotics and Automation.
  • Khatib, O. (1985),” Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” IEEE International Conference on Robotics and Automation,;pp. 25-28: 500- 505.
  • Koren, Y. and Borenstein, J. (1988),” High-Speed Obstacle Avoidance for Mobile Robotics,”. Proceedings of the IEEE Symposium on Intelligent Control, pp.382-384.
  • Borenstein, J. and Koren, Y. (1991),” The Vector Field Histogram – Fast Obstacle Avoidance for Mobile Robots,” IEEE Journal of Robotics and Automation, pp. 278–288.
  • Ulrich, I. and Borenstein, J. (1998),” VFH: Reliable Obstacle Avoidance for Fast Mobile Robots,” Proceedings of the International Conference on Robotics and Automation.
  • Ulrich, I. and Borenstein, J. (2000),” VFH: Local Obstacle Avoidance with Look-Ahead Verification,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 24–28. [9] Khatib, O. and Quinlan, S. (1993),” Elastic Bands: Connecting, Path Planning and Control,” Proceedings of IEEE International Conference on Robotics and Automation.
  • Bolandi, H. and Rezaei, M. and Smailzadeh, S. M. and Khoorany, V. (2013),” New Algorithm of Formation and Obstacle Avoidance Simultaneous Control for Quadrotorgroupe,” Electronics Industries Quarterly Vol.4 No.4 Winter, pp. 47-57
  • Bolandi, H. and Rezaei, M. and Mohsenipour, R. and Smailzadeh, S. M and Nemati, H. (2013),”Attitude Control of a Quadrotor with Optimized PIDcontroller,” Intelligent Control and Automation, pp. 342-349.

A New Obstacle Avoidance Algorithm for Quad rotors Group in the presence of Dynamic and Static Obstacles

Year 2015, Volume: 36 Issue: 3, 105 - 120, 13.05.2015

Mohammad Rezaei , Hossein Bolandi Fateme Jamaldoost Seyedmajid Smailzadeh

Abstract

Abstract. In this paper a new geometric-based collision avoidance scheme is presented for a group of quad rotor in environment with static and dynamic obstacles.  The objective is to consider the full dynamics of the system to design obstacle avoidance controllers for the group of quad rotors. We introduce a method for both moving and non-moving obstacles. The proposed algorithm guide group toward the target in the path which is tangent to obstacle defined safe circle and optimize trajectory for minimized path to target. Due to simulation results, it is independent of the number of agents and applicable for static and dynamic obstacles. Simulation results are presented to validate the designed algorithm. 

Keywords

Obstacle Avoidance flying robot Geometric Approach dynamic obstacle Path planning

References

  • Lumelsky, V.and Skewis, T.(1990),”Incorporating Range Sensing in the Robot Navigation Function,” IEEETransactions on Systems, Man, and Cybernetics, 20: pp. 1058–1068.
  • Lumelsky, V. and Stepanov, A. (1990), “Path-Planning Strategies for a Point Mobile Automaton Moving Amidst Unknown Obstacles of Arbitrary Shape,” Autonomous Robot Vehicles,Spinger-Verlag.
  • Kamon, I. and Rivlin, E. and Rimon E. (1996),”A New Range-Sensor Based Globally Convergent Navigation Algorithm for Mobile Robots,” IEEE International Conference on Robotics and Automation.
  • Khatib, O. (1985),” Real-Time Obstacle Avoidance for Manipulators and Mobile Robots,” IEEE International Conference on Robotics and Automation,;pp. 25-28: 500- 505.
  • Koren, Y. and Borenstein, J. (1988),” High-Speed Obstacle Avoidance for Mobile Robotics,”. Proceedings of the IEEE Symposium on Intelligent Control, pp.382-384.
  • Borenstein, J. and Koren, Y. (1991),” The Vector Field Histogram – Fast Obstacle Avoidance for Mobile Robots,” IEEE Journal of Robotics and Automation, pp. 278–288.
  • Ulrich, I. and Borenstein, J. (1998),” VFH: Reliable Obstacle Avoidance for Fast Mobile Robots,” Proceedings of the International Conference on Robotics and Automation.
  • Ulrich, I. and Borenstein, J. (2000),” VFH: Local Obstacle Avoidance with Look-Ahead Verification,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 24–28. [9] Khatib, O. and Quinlan, S. (1993),” Elastic Bands: Connecting, Path Planning and Control,” Proceedings of IEEE International Conference on Robotics and Automation.
  • Bolandi, H. and Rezaei, M. and Smailzadeh, S. M. and Khoorany, V. (2013),” New Algorithm of Formation and Obstacle Avoidance Simultaneous Control for Quadrotorgroupe,” Electronics Industries Quarterly Vol.4 No.4 Winter, pp. 47-57
  • Bolandi, H. and Rezaei, M. and Mohsenipour, R. and Smailzadeh, S. M and Nemati, H. (2013),”Attitude Control of a Quadrotor with Optimized PIDcontroller,” Intelligent Control and Automation, pp. 342-349.
There are 10 citations in total.

Details

Journal Section Special
Authors

Mohammad Rezaei

Hossein Bolandi This is me

Fateme Jamaldoost This is me

Seyedmajid Smailzadeh This is me

Publication Date May 13, 2015
Published in Issue Year 2015 Volume: 36 Issue: 3

Cite

APA Rezaei, M., Bolandi, H., Jamaldoost, F., Smailzadeh, S. (2015). A New Obstacle Avoidance Algorithm for Quad rotors Group in the presence of Dynamic and Static Obstacles. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi, 36(3), 105-120.
AMA Rezaei M, Bolandi H, Jamaldoost F, Smailzadeh S. A New Obstacle Avoidance Algorithm for Quad rotors Group in the presence of Dynamic and Static Obstacles. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi. May 2015;36(3):105-120.
Chicago Rezaei, Mohammad, Hossein Bolandi, Fateme Jamaldoost, and Seyedmajid Smailzadeh. “A New Obstacle Avoidance Algorithm for Quad Rotors Group in the Presence of Dynamic and Static Obstacles”. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 36, no. 3 (May 2015): 105-20.
EndNote Rezaei M, Bolandi H, Jamaldoost F, Smailzadeh S (May 1, 2015) A New Obstacle Avoidance Algorithm for Quad rotors Group in the presence of Dynamic and Static Obstacles. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 36 3 105–120.
IEEE M. Rezaei, H. Bolandi, F. Jamaldoost, and S. Smailzadeh, “A New Obstacle Avoidance Algorithm for Quad rotors Group in the presence of Dynamic and Static Obstacles”, Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi, vol. 36, no. 3, pp. 105–120, 2015.
ISNAD Rezaei, Mohammad et al. “A New Obstacle Avoidance Algorithm for Quad Rotors Group in the Presence of Dynamic and Static Obstacles”. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 36/3 (May 2015), 105-120.
JAMA Rezaei M, Bolandi H, Jamaldoost F, Smailzadeh S. A New Obstacle Avoidance Algorithm for Quad rotors Group in the presence of Dynamic and Static Obstacles. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi. 2015;36:105–120.
MLA Rezaei, Mohammad et al. “A New Obstacle Avoidance Algorithm for Quad Rotors Group in the Presence of Dynamic and Static Obstacles”. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi, vol. 36, no. 3, 2015, pp. 105-20.
Vancouver Rezaei M, Bolandi H, Jamaldoost F, Smailzadeh S. A New Obstacle Avoidance Algorithm for Quad rotors Group in the presence of Dynamic and Static Obstacles. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi. 2015;36(3):105-20.