Real-Time Local Obstacle Avoidance and Trajectory Tracking Control of Quadrotor UAVs With Suspended Payload in Complex Environments

Zhang, Ziyou; Zhang, Dong; Kong, Dezhi; Wang, Yanqian

doi:10.1109/access.2023.3344578

Cited by 2 publications

(1 citation statement)

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“…[34] A hierarchical weighting Vicsek model for swarm alignment and obstacle avoidance. Reference Description [35] Local obstacle avoidance control scheme for UAV with suspended payload for complex environments with dense obstacles and wind. [36] Obstacle avoidance for fixed-wing aircraft in no-fly zones in the presence of wind disturbances.…”

Section: Obstacle Modelingmentioning

confidence: 99%

Modeling Wind and Obstacle Disturbances for Effective Performance Observations and Analysis of Resilience in UAV Swarms

Phadke,

Medrano,

Chu

et al. 2024

Aerospace

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UAV swarms have multiple real-world applications but operate in a dynamic environment where disruptions can impede performance or stop mission progress. Ideally, a UAV swarm should be resilient to disruptions to maintain the desired performance and produce consistent outputs. Resilience is the system’s capability to withstand disruptions and maintain acceptable performance levels. Scientists propose novel methods for resilience integration in UAV swarms and test them in simulation scenarios to gauge the performance and observe the system response. However, current studies lack a comprehensive inclusion of modeled disruptions to monitor performance accurately. Existing approaches in compartmentalized research prevent a thorough coverage of disruptions to test resilient responses. Actual resilient systems require robustness in multiple components. The challenge begins with recognizing, classifying, and implementing accurate disruption models in simulation scenarios. This calls for a dedicated study to outline, categorize, and model interferences that can be included in current simulation software, which is provided herein. Wind and in-path obstacles are the two primary disruptions, particularly in the case of aerial vehicles. This study starts a multi-step process to implement these disruptions in simulations accurately. Wind and obstacles are modeled using multiple methods and implemented in simulation scenarios. Their presence in simulations is demonstrated, and suggested scenarios and targeted observations are recommended. The study concludes that introducing previously absent and accurately modeled disruptions, such as wind and obstacles in simulation scenarios, can significantly change how resilience in swarm deployments is recorded and presented. A dedicated section for future work includes suggestions for implementing other disruptions, such as component failure and network intrusion.

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Section: Obstacle Modelingmentioning

confidence: 99%