Path Planning and Tracking for a Quadrotor with the Aim of Obstacle Avoidance Using the BUG2 and Predictive Control

Document Type : Research Article

Authors

1 Faculty of Electrical & Computer Engineering, Malek Ashtar University of Technology, Iran

2 Faculty of Electrical & Computer Engineering, Malek Ashtar University of Technology, Iran

Abstract

One of the main topics these days is the use of quadrotors to transport commodities in the urban environment, and the main challenge in quadrotors for route planning in urban areas is obstacles. Quadrotors are not suitable to fly at high altitudes, because due to economic limitations, this will be a challenge. Therefore, most quadrotors in the urban environment must fly at a low altitude, and for this reason, there will be obstacles in their path. Some of the obstacles are predetermined, and some others are unpredictable. A new method to interact with these unexpected obstacles has been presented In this paper. This method combines the BUG2 or online-BUG2 path planning methods in robotics and model predictive control, which is intended to guide the quadrotor. In this method, first, the desired path of the quadrotor is determined with the help of the BUG2 and online-BUG2 algorithms, and then, with the help of model predictive control using the predictive functional control, the control law required to change the direction of the quadrotor to this reference path is obtained. According to the three scenarios implemented with the help of the introduced method, it can be seen the integrated approach has been able to detect them well and guide the quadrotor to the target by bypassing the obstacles.

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AUT Journal of Modeling and Simulation
Volume 55, Issue 2
December 2023
Pages 243-262

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