Collision Avoidance Algorithm for a Quadrotor UAV in Dynamic Environments
Abitha M.A., Abdul Saleem · 2023
The effectiveness of a quadrotor's mission is significantly determined by its ability to fly safely in its environment. Because quadrotors are frequently used in densely populated low-altitude airspace, collision avoidance algorithms are very important. If the anticipated trajectory can produce the least amount of jerk impact while still adhering to motion limit requirements, flight performance can be enhanced. Using a novel quadrotor collision avoidance algorithm, this study gives a trajectory with minimal jerk. The suggested method enables the quadrotor to follow a minimum jerk trajectory; however, when it encounters an obstacle, the quadrotor deviates from this trajectory and returns to the intended minimum jerk trajectory as the obstacle moves out of the way. This serves as the mission planning module for the quadrotor, and an autopilot proportional derivative controller then tracks the trajectory. The results of the flight simulation tests indicate that the quadrotor can successfully avoid linear and nonlinear moving objects. These simulations are conducted in the MATLAB environment.