Obstacle Avoidance and Trajectory Tracking Control of a UAV Based on Zonotope*
Xiaoyu Wu, Hao Liu, Hongmei Zhang · 2025
In this paper, PID controllers are integrated with the zonotope method to enhance UAVs control and observation capabilities, achieving precise trajectory and attitude tracking along planned paths. Performance and robustness in complex environments are significantly improved. By combining the ACO algorithm with the zonotope method, an effective obstacle avoidance scheme is developed, ensuring safe and reliable UAVs operations. The method's potential to advance UAVs technology in challenging scenarios is demonstrated by the results.