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

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.

Comprehensive Review of Drones Collision Avoidance Schemes: Challenges and Open Issues

“…The method described in [135] utilizes Euclidean Geometry to estimate intercepting points by using a specified safe perimeter in the form of a square area. Research [133] incorporated a sliding-mode-based reactive control algorithm and a dynamic programming-based global path planning system to operate UAVs in 3D environments. Nevertheless, it suffers from high computational complexity and is dependent on cloud computing resources for processing.…”