DOI: 10.3390/EN12081551
关键词:
摘要: Trajectory tracking with collision avoidance for a multicopter is solved based on geometrical relations. In this paper, new method proposed to move from the start position desired destination and track pre-planned trajectory, while avoiding collisions obstacles. The controller consists of two parts: First, control introduced errors between relative reference path. Second, once obstacles high possibility are detected, boundary sphere/cylinder obstacle generated by dimensions vehicle obstacles, so as define safety risk areas. Afterwards, relation vehicle’s motion direction, tangential lines current obstacle, detection angle computed decide fastest direction take in order avoid collision. obstacle/collision activated locally when an object close, null if moves away velocity law guidance obtained Lyapunov stability. addition, proportional used at end journey ensure stops target position. A numerical simulation different scenarios was performed prove effectiveness algorithm.