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

Yıl 2015, Cilt: 36 Sayı: 3, 105 - 120, 13.05.2015

Mohammad Rezaei Hossein Bolandi Fateme Jamaldoost Seyedmajid Smailzadeh

Öz

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. 

Anahtar Kelimeler

Obstacle Avoidance, flying robot, Geometric Approach, dynamic obstacle, Path planning

Kaynakça

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