Collision-free trajectory planning of multi-rotor UAVs in a wind condition based on modified potential field
Result 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.
Keywords
HexarotorOptimalcontrolFuelefficientCollision-freePathplanning
The result's identifiers
Result code in IS VaVaI
Result on the web
DOI - Digital Object Identifier
Alternative languages
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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Classification
Type
Jimp - 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)
Result continuities
Project
GA20-10280S: Reliable sensing-driven compact groups of micro aerial robots with adaptive shapes
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
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
Basic information
Result type
Jimp - Article in a specialist periodical, which is included in the Web of Science database
OECD FORD
Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Year of implementation
2021