A Hybrid Global/Reactive Algorithm for Collision-Free UAV Navigation in 3D Environments with Steady and Moving Obstacles

This paper introduces a practical navigation approach for nonholonomic Unmanned Aerial Vehicles (UAVs) in 3D environment settings with numerous stationary and dynamic obstacles. To achieve the intended outcome, Dynamic Programming (DP) is combined with a reactive control algorithm. The DP allows the...

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Bibliographic Details
Published in:Drones (Basel) Vol. 7; no. 11; p. 675
Main Authors: Verma, Satish C., Li, Siyuan, Savkin, Andrey V.
Format: Journal Article
Language:English
Published: Basel MDPI AG 01.11.2023
Subjects:
Algorithms
Cloud computing
Collision avoidance
collision-free navigation of aerial drones
Computer simulation
Control systems
Control theory
Drone aircraft
Dynamic programming
Efficiency
Heuristic
hybrid global/reactive navigation algorithm
Machine learning
Moving obstacles
Navigation
navigation of aerial drones
Obstacle avoidance
Optimization
Planning
Sensors
steady and moving obstacles
UAV path planning
Unmanned aerial vehicles
Vehicles
Australia
ISSN:2504-446X, 2504-446X
Online Access:Get full text
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Summary:This paper introduces a practical navigation approach for nonholonomic Unmanned Aerial Vehicles (UAVs) in 3D environment settings with numerous stationary and dynamic obstacles. To achieve the intended outcome, Dynamic Programming (DP) is combined with a reactive control algorithm. The DP allows the UAVs to navigate among known static barriers and obstacles. Additionally, the reactive controller uses data from the onboard sensor to avoid unforeseen obstacles. The proposed strategy is illustrated through computer simulation results. In simulations, the UAV successfully navigates around dynamic obstacles while maintaining its route to the target. These results highlight the ability of our proposed approach to ensure safe and efficient UAV navigation in complex and obstacle-laden environments.
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ISSN:2504-446X
2504-446X
DOI:10.3390/drones7110675