Real-Time Autonomous Obstacle Avoidance for Fixed-Wing UAVs Using a Dynamic Model

AbstractThis paper presents an approach for real-time autonomous obstacle avoidance for fixed-wing unmanned aerial vehicles (UAVs) for scenarios in which a UAV is required to stay close to a reference path. A key challenge is rapid trajectory generation around obstacles while accommodating vehicle c...

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Bibliographic Details
Published in:Journal of aerospace engineering 2020-07, Vol.33 (4)
Main Authors: Adhikari, Min Prasad, Ruiter, Anton H. J. de
Format: Article
Language:English
Subjects:
Accuracy
Comparative studies
Constraint modelling
Dynamic models
Fixed wings
Nonlinear dynamics
Obstacle avoidance
Predictive control
Real time
Technical Papers
Trajectories
Unmanned aerial vehicles
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Summary:AbstractThis paper presents an approach for real-time autonomous obstacle avoidance for fixed-wing unmanned aerial vehicles (UAVs) for scenarios in which a UAV is required to stay close to a reference path. A key challenge is rapid trajectory generation around obstacles while accommodating vehicle constraints. A UAV model with nonlinear dynamic constraints provides more natural accommodation of the vehicle’s constraints than a kinematic model with linear constraints. This paper presents a method for using finite horizon model predictive control with a custom solver that offers low solution time. A comparative study of a high-fidelity model and a lower-fidelity counterpart is presented. Using the proposed method, the high-fidelity model provides better trajectories than the lower-fidelity counterpart, despite both having low computational requirement for onboard trajectory generation in an embedded platform.
ISSN:0893-1321
1943-5525
DOI:10.1061/(ASCE)AS.1943-5525.0001143