Quadcopters take precedence over fixed-wing aircraft within the UAV family, owing to their distinctive characteristics such as vertical take-off and landing, reduced size and weight, high maneuverability, and more. With recent technological advancements, UAVs have become viable for a wide range of applications ranging from military to civilian, including traffic monitoring, aerial photography, surveillance, payload carrying search and rescue, and much more, especially for tedious, filthy, and dangerous jobs that endanger people, such as building fires and observatories in the woods, military purposes. To complete some of these missions, a swarmswarm of Quadcopters must work together. Determining how a Quadcopter can autonomously achieve its goal position despite obstacles in its path is a complex issue. This paper uses the A* (A-star) algorithm to model path planning, trajectory generation, and autonomous control of a quadcopter. Path planning was thoroughly examined using various scenarios with various obstacle positions, and the dimensions of obstacles are much greater than the dimensions of the Quadcopter over the map. It was also observed whether the swarmswarm (3 Quadcopters in “vee” formation) maintains the necessary formation throughout the created path.


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    Title :

    Obstacle Avoidance for Quadcopters in Formation Flying Based on A*AlgorithmA* Algorithm


    Additional title:

    Lecture Notes in Civil Engineering


    Contributors:

    Conference:

    International Conference on Unmanned Aerial System in Geomatics ; 2021 ; Roorkee, India April 02, 2021 - April 04, 2021



    Publication date :

    2023-03-16


    Size :

    15 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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