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.
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