A Hybrid Global/Reactive Algorithm for Collision-Free UAV Navigation in 3D Environments with Steady and Moving Obstacles

Author:

Verma Satish C.1,Li Siyuan1,Savkin Andrey V.1ORCID

Affiliation:

1. School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, Australia

Abstract

This paper introduces a practical navigation approach for nonholonomic Unmanned Aerial Vehicles (UAVs) in 3D environment settings with numerous stationary and dynamic obstacles. To achieve the intended outcome, Dynamic Programming (DP) is combined with a reactive control algorithm. The DP allows the UAVs to navigate among known static barriers and obstacles. Additionally, the reactive controller uses data from the onboard sensor to avoid unforeseen obstacles. The proposed strategy is illustrated through computer simulation results. In simulations, the UAV successfully navigates around dynamic obstacles while maintaining its route to the target. These results highlight the ability of our proposed approach to ensure safe and efficient UAV navigation in complex and obstacle-laden environments.

Funder

Australian Government

Publisher

MDPI AG

Subject

Artificial Intelligence,Computer Science Applications,Aerospace Engineering,Information Systems,Control and Systems Engineering

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