A simple and reactive algorithm for drone pursuit and collision avoidance for non-cooperative agents, not requiring global path planning is proposed in this paper. The pursuit algorithm is based on the geometrical rule PN- Parallel Navigation, using the same principle to track the target and for evading obstacles. Besides, our strategy does not require separate modes for pursuit and collision avoidance, as common in numerous works. The algorithm is validated numerically when tracking a mobile target in a confined environment in the presence of dynamic objects. Results show the good performance of the algorithm and confirm that the collision route property can be used to avoid reactively un-predicted and dynamic objects.
Reactive drone pursuit and obstacle avoidance based in parallel navigation
2020-09-20
551556 byte
Conference paper
Electronic Resource
English
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