Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory

This paper proposes an innovative and efficient three-dimensional (3D) autonomous obstacle algorithm for unmanned aerial vehicles (UAVs) which works by generating circular arc trajectories to avoid obstacles. Firstly, information on irregular obstacles is obtained by an onboard detection system; this information is then transformed into standard convex bodies, which are used to generate circular arc avoidance trajectories, and the obstacle avoidance problem is turned into a trajectory tracking strategy. Then, on the basis of the geometric relationship between a UAV and obstacle modeling, the working mechanism of the avoidance algorithm is developed. The rules of obstacle detection, avoidance direction, and the criterion of avoidance success are defined for different obstacle types. Finally, numerical simulations of different obstacle scenarios show that the proposed algorithm can avoid static and dynamic obstacles effectively and can implement obstacle avoidance missions for UAVs well.

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Research on Multi-Agent Formation’s Obstacle Avoidance Problem Based on Three-Dimensional Vectorial Artificial Potential Field Method

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.596.251 ◽

2014 ◽

Vol 596 ◽

pp. 251-258 ◽

Cited By ~ 3

Author(s):

Ji Yang Dai ◽

Lin Fei Yin ◽

Chen Peng ◽

Bao Jian Yang ◽

Cun Song Wang

Keyword(s):

Obstacle Avoidance ◽

Potential Field ◽

Three Dimensional ◽

Field Method ◽

Artificial Potential Field ◽

Potential Field Method ◽

Pyramid Structure ◽

Multi Agent ◽

Artificial Potential Field Method ◽

Avoidance Problem

In order to solve the obstacle avoidance problem when the Multi-Agent formation get through the area full of obstacles, improved the traditional Artificial Potential Field method, add the vectorial information to the agent’s model, presented the Three-Dimensional Vectorial Artificial Potential Field method (TDVAPF). Firstly, improved the model of agent, obstacle and target; then, improved the Multi-Agent formation motion model, the Multi-Agent formation’s structure is “pyramid” structure; Finally, improved the agent’s force, add the “rotational force” to the agent’s force, it makes agent avoid the “local trouble”. The numerical simulation verified the correctness and effectiveness of the TDVAPF method in Multi-Agent formation’s obstacle avoidance problem.

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A dynamic filtering obstacle detection method based on ultrasonic array

International Journal of Wavelets Multiresolution and Information Processing ◽

10.1142/s0219691316500302 ◽

2016 ◽

Vol 14 (04) ◽

pp. 1650030

Author(s):

Huihai Cui ◽

Daxue Liu ◽

Yan Li ◽

Hangen He

Keyword(s):

Detection Method ◽

Detection System ◽

Obstacle Detection ◽

Filtering Method ◽

Field Environment ◽

Ultrasonic Array ◽

Dynamic Filtering ◽

Geometric Relationship ◽

And Control ◽

Relationship Of

In research on the navigation and control of an Autonomous Land Vehicle (ALV), the ultrasonic obstacle detection system plays an important role extending the environment cognition capability of the ALV. With a goal of improving the accuracy of ultrasonic obstacle detection, a dynamic data filtering method based on ultrasonic array is presented. The sonar return data is first processed through static filtering according to the geometric relationship of the ultrasonic array. Then, dynamic filtering is executed using the orientation and trajectory information of the vehicle. The dynamic filtering method is compared to the traditional ultrasonic obstacle detection method, which is the static filtering method in a typical field environment. The experiment result demonstrates the validity of the method for solving the fake data problem, and the accuracy of obstacle detection is improved.

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Test equipment development and test results analysis of optical fiber fence and OTDR for obstacle detection system

Journal of The Korean Society For Urban Railway ◽

10.24284/jkosur.2018.12.6.4.269 ◽

2018 ◽

Vol 6 (4) ◽

pp. 269-278

Author(s):

Jun Kyung Han ◽

Young Hun Choi ◽

Chang Min Lee

Keyword(s):

Optical Fiber ◽

Detection System ◽

Obstacle Detection ◽

Test Equipment ◽

Test Results ◽

Equipment Development

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Formation Control and Obstacle Avoidance Algorithm of a Multi-USV System Based on Virtual Structure and Artificial Potential Field

Journal of Marine Science and Engineering ◽

10.3390/jmse9020161 ◽

2021 ◽

Vol 9 (2) ◽

pp. 161

Author(s):

Xun Yan ◽

Dapeng Jiang ◽

Runlong Miao ◽

Yulong Li

Keyword(s):

Obstacle Avoidance ◽

Potential Field ◽

Formation Control ◽

Shape Change ◽

Artificial Potential Field ◽

Generation Algorithm ◽

Time Performance ◽

Movement Ability ◽

Window Approach ◽

Avoidance Problem

This paper proposes a formation generation algorithm and formation obstacle avoidance strategy for multiple unmanned surface vehicles (USVs). The proposed formation generation algorithm implements an approach combining a virtual structure and artificial potential field (VSAPF), which provides a high accuracy of formation shape keeping and flexibility of formation shape change. To solve the obstacle avoidance problem of the multi-USV system, an improved dynamic window approach is applied to the formation reference point, which considers the movement ability of the USV. By applying this method, the USV formation can avoid obstacles while maintaining its shape. The combination of the virtual structure and artificial potential field has the advantage of less calculations, so that it can ensure the real-time performance of the algorithm and convenience for deployment on an actual USV. Various simulation results for a group of USVs are provided to demonstrate the effectiveness of the proposed algorithms.

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A State-of-the-Art Analysis of Obstacle Avoidance Methods from the Perspective of an Agricultural Sprayer UAV’s Operation Scenario

Agronomy ◽

10.3390/agronomy11061069 ◽

2021 ◽

Vol 11 (6) ◽

pp. 1069

Author(s):

Shibbir Ahmed ◽

Baijing Qiu ◽

Fiaz Ahmad ◽

Chun-Wei Kong ◽

Huang Xin

Keyword(s):

Collision Avoidance ◽

Obstacle Avoidance ◽

State Of The Art ◽

Obstacle Detection ◽

Crop Monitoring ◽

Data Intensive ◽

Structural Details ◽

Dynamic Operating ◽

New Generation ◽

The Internet Of Things

Over the last decade, Unmanned Aerial Vehicles (UAVs), also known as drones, have been broadly utilized in various agricultural fields, such as crop management, crop monitoring, seed sowing, and pesticide spraying. Nonetheless, autonomy is still a crucial limitation faced by the Internet of Things (IoT) UAV systems, especially when used as sprayer UAVs, where data needs to be captured and preprocessed for robust real-time obstacle detection and collision avoidance. Moreover, because of the objective and operational difference between general UAVs and sprayer UAVs, not every obstacle detection and collision avoidance method will be sufficient for sprayer UAVs. In this regard, this article seeks to review the most relevant developments on all correlated branches of the obstacle avoidance scenarios for agricultural sprayer UAVs, including a UAV sprayer’s structural details. Furthermore, the most relevant open challenges for current UAV sprayer solutions are enumerated, thus paving the way for future researchers to define a roadmap for devising new-generation, affordable autonomous sprayer UAV solutions. Agricultural UAV sprayers require data-intensive algorithms for the processing of the images acquired, and expertise in the field of autonomous flight is usually needed. The present study concludes that UAV sprayers are still facing obstacle detection challenges due to their dynamic operating and loading conditions.

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Fuzzy-Optimal Online Control of a Mobile Robot in the Obstacle Avoidance Problem

2020 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon) ◽

10.1109/fareastcon50210.2020.9271297 ◽

2020 ◽

Author(s):

N.G. Rogachev

Keyword(s):

Mobile Robot ◽

Obstacle Avoidance ◽

Online Control ◽

Avoidance Problem

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Obstacle Detection and Obstacle Avoidance Algorithm based on 2-D RPLiDAR

2019 International Conference on Computer Communication and Informatics (ICCCI) ◽

10.1109/iccci.2019.8821803 ◽

2019 ◽

Author(s):

T.R. Madhavan ◽

M. Adharsh

Keyword(s):

Obstacle Avoidance ◽

Obstacle Detection

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Fabrication of Three-Dimensional Micro-Structures with Two-Photon Absorption by Femtosecond Laser

Materials Science Forum ◽

10.4028/www.scientific.net/msf.532-533.568 ◽

2006 ◽

Vol 532-533 ◽

pp. 568-571

Author(s):

Ming Zhou ◽

Hai Feng Yang ◽

Li Peng Liu ◽

Lan Cai

Keyword(s):

Photonic Crystal ◽

Femtosecond Laser ◽

Detection System ◽

Three Dimensional ◽

Photon Absorption ◽

Micro Fabrication ◽

Two Photon Absorption ◽

Two Photon ◽

Photo Polymerization ◽

System A

The photo-polymerization induced by Two-Photon Absorption (TPA) is tightly confined in the focus because the efficiency of TPA is proportional to the square of intensity. Three-dimensional (3D) micro-fabrication can be achieved by controlling the movement of the focus. Based on this theory, a system for 3D-micro-fabrication with femtosecond laser is proposed. The system consists of a laser system, a microscope system, a real-time detection system and a 3D-movement system, etc. The precision of micro-machining reaches a level down to 700nm linewidth. The line width was inversely proportional to the fabrication speed, but proportional to laser power and NA. The experiment results were simulated, beam waist of 0.413μm and TPA cross section of 2×10-54cm4s was obtained. While we tried to optimize parameters, we also did some research about its applications. With TPA photo-polymerization by means of our experimental system, 3D photonic crystal of wood-pile structure twelve layers and photonic crystal fiber are manufactured. These results proved that the micro-fabrication system of TPA can not only obtain the resolution down to sub-micron level, but also realize real 3D micro-fabrication.

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