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Obstacle Avoidance for Quadcopters in Formation Flying Based on A* Algorithm

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Proceedings of UASG 2021: Wings 4 Sustainability (UASG 2021)

Part of the book series: Lecture Notes in Civil Engineering ((LNCE,volume 304))

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Abstract

Quadcopters take precedence over fixed-wing aircraft within the UAV family, owing to their distinctive characteristics such as vertical take-off and landing, reduced size and weight, high maneuverability, and more. With recent technological advancements, UAVs have become viable for a wide range of applications ranging from military to civilian, including traffic monitoring, aerial photography, surveillance, payload carrying search and rescue, and much more, especially for tedious, filthy, and dangerous jobs that endanger people, such as building fires and observatories in the woods, military purposes. To complete some of these missions, a swarm of Quadcopters must work together. Determining how a Quadcopter can autonomously achieve its goal position despite obstacles in its path is a complex issue. This paper uses the A* (A-star) algorithm to model path planning, trajectory generation, and autonomous control of a quadcopter. Path planning was thoroughly examined using various scenarios with various obstacle positions, and the dimensions of obstacles are much greater than the dimensions of the Quadcopter over the map. It was also observed whether the swarm (3 Quadcopters in “vee” formation) maintains the necessary formation throughout the created path.

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Authors and Affiliations

  1. Department of Instrumentation Engineering, SGGS Institute of Engineering and Technology, Nanded, Maharashtra, India

    Kumud Ranjan Roy

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  1. Kumud Ranjan Roy
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Correspondence to Kumud Ranjan Roy .

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Editors and Affiliations

  1. Department of Civil Engineering, Centre of Excellence in Disaster Mitigation and Management (CoEDMM), Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Kamal Jain

  2. Department of Civil Engineering, Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Vishal Mishra

  3. Centre for Advanced Modelling and Geospatial Information Systems (CAMGIS), University of Technology Sydney, Ultimo, NSW, Australia

    Biswajeet Pradhan

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Roy, K.R. (2023). Obstacle Avoidance for Quadcopters in Formation Flying Based on A* Algorithm. In: Jain, K., Mishra, V., Pradhan, B. (eds) Proceedings of UASG 2021: Wings 4 Sustainability. UASG 2021. Lecture Notes in Civil Engineering, vol 304. Springer, Cham. https://doi.org/10.1007/978-3-031-19309-5_34

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  • DOI: https://doi.org/10.1007/978-3-031-19309-5_34

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-19308-8

  • Online ISBN: 978-3-031-19309-5

  • eBook Packages: EngineeringEngineering (R0)

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