A Hybrid Global/Reactive Algorithm for Collision-Free Navigation of Mobile Ground Robots in Environments with Steady and Moving Obstacles

Verma, Satish Chandra; Savkin, Andrey V.

doi:10.1109/robio55434.2022.10011770

Search citation statements

Order By: Relevance

Paper Sections

Select...

Introduction1

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2023

Publication Types

Select...

Article1

Relationship

Self Cite1

Independent0

Authors

Journals

Cited by 1 publication

(1 citation statement)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The onboard processing capacity of UAVs is limited by multiple constraints such as battery power, weight, and space. One popular approach is to offload complex tasks with no hard real-time deadlines from an autonomous vehicle's onboard computers to a cloud server [10,11]. Recent advances in wireless communication technology and cloud computing make it possible to offload non-critical complex tasks [12].…”

Section: Introductionmentioning

confidence: 99%

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

Verma,

Li,

Savkin

2023

Drones

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Section: Introductionmentioning

confidence: 99%