Simultaneous Trajectory Tracking and Obstacle Avoidance of a Quadrotor UAV

Hongbao Du; Zhengjie Wang; Lixi Tang

doi:10.1007/978-981-97-0126-1_44

Simultaneous Trajectory Tracking and Obstacle Avoidance of a Quadrotor UAV

Hongbao Du, Zhengjie Wang^*, Lixi Tang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Trajectory tracking is an important module in UAV motion planning, which enhances motion safety, but obstacles still threaten UAV. Therefore, the safety assurance of trajectory tracking is an important issue for a quadrotor UAV. Our work designs a lightweight simultaneous trajectory tracking and obstacle avoidance controller, which is developed based on exponential control barrier function. Obstacles are considered as constraints by using exponential control barrier function, and the square of the difference between the nominal control input and the actual control input is used as the objective function to construct a quadratic optimization problem. The advantage of this method is that it saves computing resources and has high real-time performance. Then, numerical simulations verify the effectiveness of the algorithm.

Original language	English
Title of host publication	Automatic Control and Emerging Technologies - Proceedings of ACET 2023
Editors	Hassan El Fadil, Weicun Zhang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	495-505
Number of pages	11
ISBN (Print)	9789819701254
DOIs	https://doi.org/10.1007/978-981-97-0126-1_44
Publication status	Published - 2024
Event	International Symposium on Automatic Control and Emerging Technologies, ACET 2023 - Kenitra, Morocco Duration: 11 Jul 2023 → 13 Jul 2023

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1141 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Symposium on Automatic Control and Emerging Technologies, ACET 2023
Country/Territory	Morocco
City	Kenitra
Period	11/07/23 → 13/07/23

Keywords

exponential control barrier function
obstacle avoidance
trajectory tracking
unmanned aerial vehicle

Access to Document

10.1007/978-981-97-0126-1_44

Cite this

Du, H., Wang, Z., & Tang, L. (2024). Simultaneous Trajectory Tracking and Obstacle Avoidance of a Quadrotor UAV. In H. El Fadil, & W. Zhang (Eds.), Automatic Control and Emerging Technologies - Proceedings of ACET 2023 (pp. 495-505). (Lecture Notes in Electrical Engineering; Vol. 1141 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-97-0126-1_44

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title = "Simultaneous Trajectory Tracking and Obstacle Avoidance of a Quadrotor UAV",

abstract = "Trajectory tracking is an important module in UAV motion planning, which enhances motion safety, but obstacles still threaten UAV. Therefore, the safety assurance of trajectory tracking is an important issue for a quadrotor UAV. Our work designs a lightweight simultaneous trajectory tracking and obstacle avoidance controller, which is developed based on exponential control barrier function. Obstacles are considered as constraints by using exponential control barrier function, and the square of the difference between the nominal control input and the actual control input is used as the objective function to construct a quadratic optimization problem. The advantage of this method is that it saves computing resources and has high real-time performance. Then, numerical simulations verify the effectiveness of the algorithm.",

keywords = "exponential control barrier function, obstacle avoidance, trajectory tracking, unmanned aerial vehicle",

author = "Hongbao Du and Zhengjie Wang and Lixi Tang",

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Du, H, Wang, Z & Tang, L 2024, Simultaneous Trajectory Tracking and Obstacle Avoidance of a Quadrotor UAV. in H El Fadil & W Zhang (eds), Automatic Control and Emerging Technologies - Proceedings of ACET 2023. Lecture Notes in Electrical Engineering, vol. 1141 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 495-505, International Symposium on Automatic Control and Emerging Technologies, ACET 2023, Kenitra, Morocco, 11/07/23. https://doi.org/10.1007/978-981-97-0126-1_44

Simultaneous Trajectory Tracking and Obstacle Avoidance of a Quadrotor UAV. / Du, Hongbao; Wang, Zhengjie; Tang, Lixi.
Automatic Control and Emerging Technologies - Proceedings of ACET 2023. ed. / Hassan El Fadil; Weicun Zhang. Springer Science and Business Media Deutschland GmbH, 2024. p. 495-505 (Lecture Notes in Electrical Engineering; Vol. 1141 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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