This work aims to present a navigation scheme whose topmost layer further considers the presence of obstacles and steers the aircraft towards a safe path by altering its navigation references. The complete framework is divided into two control layers carrying out the orientation and navigation, while a third obstacle-aware layer, which is based on a Virtual Leader-Follower coordination problem, generates the positioning references for the navigation controller. This outline allows designing the inner control layers independently, without obstacle awareness, giving flexibility to different combinations of UAVs and controller laws. To validate the proposed structure, numerical simulations are performed where moving obstacles are considered. In addition, experimental testing is carried out by implementing the three-layer navigation in a quadrotor aircraft, performing an independent trajectory while in the presence of a static obstacle. Both tests show acceptable results, and the obstacle collision avoidance is reached.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Obstacle-aware UAV navigation based on a leader-follower consensus protocol




    Erscheinungsdatum :

    2022-06-21


    Format / Umfang :

    1748461 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    DYNAMIC VEHICLE NAVIGATION BASED ON LEADER FOLLOWER SCHEME

    GOVINDAN SUCHINDER K / ADAMS DAVID A | Europäisches Patentamt | 2020

    Freier Zugriff

    Leader Follower Navigation System based on Pedestrian Dead Reckoning for Mobile Robot Navigation

    Farih, Muhammad / Sahal, Mochammad / Rusdhianto Effendi, A. K. | IEEE | 2019


    Impact of Mobility on Consensus Building in the Leader-Follower Model

    Kandalan, Roya Norouzi / Alla, Sindhu / Rezaeian, Nima Hassan | IEEE | 2019


    Energy-Aware 3D Leader-Follower Flight Trajectory Optimization for Fixed-Wing Aircraft

    Ranjan, Praveen / Votion, Johnathan / Cao, Yongcan et al. | TIBKAT | 2022


    Energy-aware 3D Leader-Follower Flight Trajectory Optimization for Fixed-Wing Aircraft

    Ranjan, Praveen / Votion, Johnathan / Cao, Yongcan et al. | AIAA | 2022