Collision-free Navigation of Flying Robots in Outdoor Environments with Dynamic Obstacles
Yang Zhang · 2020
In this paper, a collision-free navigation algorithm for flying robots is proposed. The algorithm is applied to three-dimensional environments with dynamic obstacles. Shapes of moving obstacles may be non-convex, motion of the obstacles is variable. The algorithm is a sliding mode control law, switching between two modes, the target approaching mode and the obstacle avoidance mode. Mathematical analysis of the proposed algorithm is given. Simulation results are also provided in order to demonstrate its performance. Compared with other approaches, the algorithm is a really practical one as the constraints of the obstacles are not too hard to be satisfied. Moreover, the proposed algorithm is computationally efficient.