A Dynamic Obstacle Avoidance algorithm for unmanned aerial vehicles based on Predictive Velocity Obstacles
In increasingly complex UAV operational environments, navigation technology is critical for flight safety. While velocity obstacle methods effectively detect collision risks for uniform linear motion, it is inadequate for real-world nonlinear obstacle movements. To address this limitation, we propos...
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| Vydáno v: | Robotics and autonomous systems Ročník 196; s. 105250 |
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| Jazyk: | angličtina |
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Elsevier B.V
01.02.2026
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| ISSN: | 0921-8890 |
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| Abstract | In increasingly complex UAV operational environments, navigation technology is critical for flight safety. While velocity obstacle methods effectively detect collision risks for uniform linear motion, it is inadequate for real-world nonlinear obstacle movements. To address this limitation, we propose a Dynamic Obstacle Avoidance algorithm for UAVs based on the Predictive Velocity Obstacle method (DOA-PVO), which is applied to a static trajectory. The algorithm expands the velocity obstacle region by merging velocity obstacle circles centered at current and predicted obstacle positions. We introduce an obstacle motion-sensitive evaluation function that selects a more anticipatory velocity by adding penalty costs to candidate velocities in the obstacle’s direction. Furthermore, an adaptive time step is determined using a fuzzy controller, serving both as the interval for calculating new velocities and the duration of flight at the previous velocity. At each new position, an updated expanded velocity obstacle region is computed to assess whether the UAV should return to the static trajectory. Simulation results show the proposed algorithm reduces maneuvering time by up to 55.91%, cumulative angular change by 33.28%, and maneuver count by 57.14%, improving efficiency and trajectory safety. Its robustness is verified via 200-scenario Monte Carlo tests. |
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| AbstractList | In increasingly complex UAV operational environments, navigation technology is critical for flight safety. While velocity obstacle methods effectively detect collision risks for uniform linear motion, it is inadequate for real-world nonlinear obstacle movements. To address this limitation, we propose a Dynamic Obstacle Avoidance algorithm for UAVs based on the Predictive Velocity Obstacle method (DOA-PVO), which is applied to a static trajectory. The algorithm expands the velocity obstacle region by merging velocity obstacle circles centered at current and predicted obstacle positions. We introduce an obstacle motion-sensitive evaluation function that selects a more anticipatory velocity by adding penalty costs to candidate velocities in the obstacle’s direction. Furthermore, an adaptive time step is determined using a fuzzy controller, serving both as the interval for calculating new velocities and the duration of flight at the previous velocity. At each new position, an updated expanded velocity obstacle region is computed to assess whether the UAV should return to the static trajectory. Simulation results show the proposed algorithm reduces maneuvering time by up to 55.91%, cumulative angular change by 33.28%, and maneuver count by 57.14%, improving efficiency and trajectory safety. Its robustness is verified via 200-scenario Monte Carlo tests. |
| ArticleNumber | 105250 |
| Author | Wang, Huan Jiang, Jing Zhao, Xiaofan Ye, Yinghui Liu, Xin Zheng, Yawen Liang, Yanxia |
| Author_xml | – sequence: 1 givenname: Yanxia surname: Liang fullname: Liang, Yanxia email: liangyanxia@xupt.edu.cn organization: School of Communication and Information Engineering, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China – sequence: 2 givenname: Huan orcidid: 0009-0002-7760-1114 surname: Wang fullname: Wang, Huan organization: School of Communication and Information Engineering, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China – sequence: 3 givenname: Xin surname: Liu fullname: Liu, Xin organization: School of Information Engineering, Xi’an Eurasia University, Xi’an, 710065, China – sequence: 4 givenname: Xiaofan surname: Zhao fullname: Zhao, Xiaofan organization: School of Communication and Information Engineering, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China – sequence: 5 givenname: Yinghui surname: Ye fullname: Ye, Yinghui organization: School of Communication and Information Engineering, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China – sequence: 6 givenname: Yawen surname: Zheng fullname: Zheng, Yawen organization: School of Communication and Information Engineering, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China – sequence: 7 givenname: Jing surname: Jiang fullname: Jiang, Jing organization: School of Communication and Information Engineering, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China |
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| Cites_doi | 10.3390/su9071174 10.1016/j.future.2018.07.048 10.1080/00207543.2021.2015806 10.1109/MNET.011.2000168 10.1109/70.97883 10.3390/electronics13112057 10.3390/aerospace8040093 10.1016/j.ssci.2021.105273 10.1142/S0218001418590085 10.1016/j.eswa.2023.120254 10.1177/027836499801700706 10.1109/ACCESS.2021.3097094 10.1038/s41598-019-43546-3 10.1109/ACCESS.2019.2962340 10.1016/j.eswa.2021.114854 10.3390/rs12060975 10.1016/j.eswa.2021.114660 10.1109/TAC.2016.2638961 10.1109/COMST.2023.3323344 10.3390/drones9090632 10.3390/drones8120701 10.3390/electronics11223660 10.1016/j.ast.2023.108763 10.1109/TSSC.1968.300136 10.1109/TIV.2023.3274536 10.3390/s24041141 10.1109/TRO.2017.2659727 10.3390/en13133348 |
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| Keywords | Unmanned aerial vehicles Fuzzy controller Dynamic Obstacle Avoidance algorithm Velocity obstacle method Adaptive computational time step |
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| SubjectTerms | Adaptive computational time step Dynamic Obstacle Avoidance algorithm Fuzzy controller Unmanned aerial vehicles Velocity obstacle method |
| Title | A Dynamic Obstacle Avoidance algorithm for unmanned aerial vehicles based on Predictive Velocity Obstacles |
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