UAV navigation using predictive vector field control

Gerlach, Adam R.; Kingston, Derek; Walker, Bruce K.

doi:10.1109/acc.2014.6859082

Cited by 12 publications

(5 citation statements)

References 11 publications

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“…In [ 84 ], authors have considered using Dubin’s curve with obstacle avoidance. Unmanned Aerial Vehicle (UAVs) navigation using predictive vector field control is proposed in [ 85 ] which uses Dubin curves. Similarly, work in [ 86 ] proposes a path planning algorithm based on 3D Dubins curves for UAVs to avoid both static and moving obstacles using a variation of Rapidly-exploring Random Tree (RRT) [ 21 ] as the planner.…”

Section: Path Smoothing Using Special Curvesmentioning

confidence: 99%

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Ravankar

Kobayashi

et al. 2018

Sensors

234

110

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Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.

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Section: Path Smoothing Using Special Curvesmentioning

confidence: 99%

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Ravankar

Kobayashi

et al. 2018

Sensors

234

110

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“…(31)(32)(33)(34); and C x , C y , C z are the inverse of the inertia in each coordinate axis, Eq. (35).…”

Section: Algorithm 1 Backsteppingmentioning

confidence: 99%

“…[35][54][41][83] for path following Vector Field implementations applied on different types of aerial vehicles. In…”

mentioning

confidence: 99%

A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

Rubí

Pérez

Morcego

2019

J Intell Robot Syst

103

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The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of the problem, resulting in many advantages on the control performance and design. An exhaustive review of path following algorithms applied to quadrotor vehicles has been carried out, the most relevant are studied in this paper. Then, four of these algorithms have been implemented and compared in a quadrotor simulation platform: Backstepping and Feedback Linearisation control-oriented algorithms and NLGL and Carrot-Chasing geometric algorithms.

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“…Predictive Vec tor Field Control (PVC) [34] implements this basis. Thus, the vector field is established and used for opti mization.…”

Section: Vision Based Guidancementioning

confidence: 99%

A novel guidance and navigation system for MAVs capable of autonomous collision-free entering of buildings

Popp¹,

Prophet²,

Scholz³

et al. 2015

Gyroscopy Navig.

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UAV navigation using predictive vector field control

Cited by 12 publications

References 11 publications

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

A Survey of Path Following Control Strategies for UAVs Focused on Quadrotors

A novel guidance and navigation system for MAVs capable of autonomous collision-free entering of buildings

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