Collision-free trajectory planning of multi-rotor UAVs in a wind condition based on modified potential field

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00348540" target="_blank" >RIV/68407700:21230/21:00348540 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.mechmachtheory.2020.104140" target="_blank" >https://doi.org/10.1016/j.mechmachtheory.2020.104140</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.mechmachtheory.2020.104140" target="_blank" >10.1016/j.mechmachtheory.2020.104140</a>

Result language

angličtina

Original language name

Collision-free trajectory planning of multi-rotor UAVs in a wind condition based on modified potential field

Original language description

A multi-rotor unmanned aerial vehicle (UAV) is a rotorcraft with more than two rotors to enhance payload capability and endurance. A key feature required for the use of these vehicles under complex conditions is a technique to solve the problem of trajectory planning analytically. Hence, this paper proposes an indirect solution of the optimal control problem for path planning of the hexarotor system with different cost functions under different wind loads. First, the generalized Euler-Lagrange formulation is used to derive the dynamic equations of a hexarotor system. Hamiltonian function for a proper objective function is formed, then using the PMP optimality necessary conditions are obtained. Finally, in order to verify the effectiveness of the proposed approach, several simulation studies on a hexacopter are performed for finding the optimal paths at point-to-point motion with different objective functions like minimum effort, collision-free and windy environment. Also, a novel approach for obstacle avoidance of unmanned aerial vehicle is proposed by using a modified artificial potential field which overcomes the local minima issue and finds a practical trajectory for robot path planning. The results clearly show the effectiveness of the proposed approach on the multirotor systems.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GA20-10280S" target="_blank" >GA20-10280S: Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Mechanism and Machine Theory

ISSN

0094-114X

e-ISSN

1873-3999

Volume of the periodical

156

Issue of the periodical within the volume

2

Country of publishing house

GB - UNITED KINGDOM

Number of pages

16

Pages from-to

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UT code for WoS article

000598946200007

EID of the result in the Scopus database

2-s2.0-85092492931