Fixed-wing UAV obstacle avoidance algorithm based on real terrain

This paper presents an obstacle avoidance algorithm for UAVs based on real terrain constraints. The common obstacle avoidance algorithm often abstracts the obstacle as a sphere or a circle or studies the UAV’s two-dimensional obstacle avoidance on a raster map. With the development of fixed-wing UAV...

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Bibliographic Details
Published in:Journal of physics. Conference series Vol. 2870; no. 1; pp. 12008 - 12013
Main Authors: Mao, Zhiyun, Mo, Li
Format: Journal Article
Language:English
Published: Bristol IOP Publishing 01.10.2024
Subjects:
Algorithms
Fixed wings
Low altitude
Obstacle avoidance
Terrain
Tracking
Unmanned aerial vehicles
ISSN:1742-6588, 1742-6596
Online Access:Get full text
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Summary:This paper presents an obstacle avoidance algorithm for UAVs based on real terrain constraints. The common obstacle avoidance algorithm often abstracts the obstacle as a sphere or a circle or studies the UAV’s two-dimensional obstacle avoidance on a raster map. With the development of fixed-wing UAVs, UAVs have longer and longer time in the air, longer and longer range, and the low-altitude environment they face is often difficult to simulate with simplified regular shape. Thus, this paper constructs the UAV flight terrain environment using open elevation data and designs an obstacle avoidance algorithm accordingly. When the UAV is tracking the track point, it can better control the UAV to avoid obstacles and fly to the target track point.
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ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2870/1/012008