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Path Planning and Control of a Quadrotor UAV Based on an Improved APF Using Parallel Search
International Journal of Aerospace Engineering ( IF 1.4 ) Pub Date : 2021-07-15 , DOI: 10.1155/2021/5524841
Tianpeng Huang 1 , Deqing Huang 1 , Na Qin 1 , Yanan Li 2
Affiliation  

Control and path planning are two essential and challenging issues in quadrotor unmanned aerial vehicle (UAV). In this paper, an approach for moving around the nearest obstacle is integrated into an artificial potential field (APF) to avoid the trap of local minimum of APF. The advantage of this approach is that it can help the UAV successfully escape from the local minimum without collision with any obstacles. Moreover, the UAV may encounter the problem of unreachable target when there are too many obstacles near its target. To address the problem, a parallel search algorithm is proposed, which requires UAV to simultaneously detect obstacles between current point and target point when it moves around the nearest obstacle to approach the target. Then, to achieve tracking of the planned path, the desired attitude states are calculated. Considering the external disturbance acting on the quadrotor, a nonlinear disturbance observer (NDO) is developed to guarantee observation error to exponentially converge to zero. Furthermore, a backstepping controller synthesized with the NDO is designed to eliminate tracking errors of attitude. Finally, comparative simulations are carried out to illustrate the effectiveness of the proposed path planning algorithm and controller.

中文翻译:

基于并行搜索改进APF的四旋翼无人机路径规划与控制

控制和路径规划是四旋翼无人机 (UAV) 中两个必不可少且具有挑战性的问题。在本文中,将绕最近障碍物移动的方法集成到人工势场(APF)中,以避免 APF 局部最小值的陷阱。这种方法的优点是可以帮助无人机在不与任何障碍物碰撞的情况下成功脱离局部最小值。此外,当目标附近有太多障碍物时,无人机可能会遇到目标无法到达的问题。针对该问题,提出了一种并行搜索算法,要求无人机在绕最近的障碍物移动接近目标时,同时检测当前点和目标点之间的障碍物。然后,为了实现对规划路径的跟踪,计算所需的姿态状态。考虑到作用在四旋翼上的外部干扰,开发了非线性干扰观测器(NDO)以保证观测误差以指数方式收敛到零。此外,设计了一个与 NDO 合成的反步控制器来消除姿态跟踪误差。最后,通过对比仿真来说明所提出的路径规划算法和控制器的有效性。
更新日期:2021-07-15
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