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Nonlinear Control for Autonomous Trajectory Tracking While Considering Collision Avoidance of UAVs Based on Geometric Relations

1
School of Intelligent Mechatronics Engineering, Sejong University, Seoul 143-747(05006), Korea
2
School of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea
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Author to whom correspondence should be addressed.
Energies 2019, 12(8), 1551; https://doi.org/10.3390/en12081551
Received: 25 March 2019 / Revised: 13 April 2019 / Accepted: 18 April 2019 / Published: 24 April 2019
(This article belongs to the Section Electric Vehicles)
Trajectory tracking with collision avoidance for a multicopter is solved based on geometrical relations. In this paper, a new method is proposed for a multicopter to move from the start position to a desired destination and track a pre-planned trajectory, while avoiding collisions with obstacles. The controller consists of two parts: First, a tracking control is introduced based on the errors between the relative position of the multicopter and the reference path. Second, once the obstacles with a high possibility of collision are detected, a boundary sphere/cylinder of the obstacle is generated by the dimensions of the vehicle and the obstacles, so as to define the safety and risk areas. Afterwards, from the relation between the vehicle’s motion direction, and the tangential lines from the vehicle’s current position to the sphere/cylinder of the obstacle, a collision detection angle is computed to decide the fastest direction to take in order to avoid a collision. The obstacle/collision avoidance control is activated locally when an object is close, and null if the vehicle moves away from the obstacles. The velocity control law and the guidance law are obtained from the Lyapunov stability. In addition, a proportional controller is used at the end of vehicle’s journey to ensure the vehicle stops at the target position. A numerical simulation in different scenarios was performed to prove the effectiveness of the proposed algorithm. View Full-Text
Keywords: collision avoidance; nonlinear control; geometric relations; trajectory tracking; collision cone collision avoidance; nonlinear control; geometric relations; trajectory tracking; collision cone
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MDPI and ACS Style

Ha, L.N.N.T.; Bui, D.H.P.; Hong, S.K. Nonlinear Control for Autonomous Trajectory Tracking While Considering Collision Avoidance of UAVs Based on Geometric Relations. Energies 2019, 12, 1551. https://doi.org/10.3390/en12081551

AMA Style

Ha LNNT, Bui DHP, Hong SK. Nonlinear Control for Autonomous Trajectory Tracking While Considering Collision Avoidance of UAVs Based on Geometric Relations. Energies. 2019; 12(8):1551. https://doi.org/10.3390/en12081551

Chicago/Turabian Style

Ha, Le N.N.T.; Bui, Duc H.P.; Hong, Sung K. 2019. "Nonlinear Control for Autonomous Trajectory Tracking While Considering Collision Avoidance of UAVs Based on Geometric Relations" Energies 12, no. 8: 1551. https://doi.org/10.3390/en12081551

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