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Advances in Computer, Communication and Computational Sciences pp 221–231Cite as

Autonomous Quadrotor Maneuvers in a 3D Complex Environment

Part of the Advances in Intelligent Systems and Computing book series (AISC,volume 1158)

Abstract

This paper essays collision-free avoidance maneuvers of a quadrotor aircraft. We use the artificial potential field method via a scheme, known as the Lyapunov-based control scheme to extract the inputs of the control laws that will be utilized to govern the autonomous navigation of the quadrotor. The hollow cylinder, which becomes an obstacle for the quadrotor, is avoided via the minimum distance technique. The surface wall of the cylinder is avoided whereby we compute the minimum Euclidean distance from the centre of the quadrotor to the surface wall of the cylinder and then avoid this resultant point. The quadrotor autonomously navigates itself past the obstacle to reach its target. The effectiveness of the proposed nonlinear control inputs are demonstrated of a virtual scenario via a computer simulation.

Keywords

  • Cylindrical obstacle
  • Quadrotor
  • Minimum distance technique

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  • DOI: 10.1007/978-981-15-4409-5_20
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Author information

Authors and Affiliations

  1. The University of the South Pacific, Suva, Fiji

    Jito Vanualailai, Jai Raj & Krishna Raghuwaiya

Authors
  1. Jito Vanualailai
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  2. Jai Raj
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  3. Krishna Raghuwaiya
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Corresponding author

Correspondence to Jito Vanualailai .

Editor information

Editors and Affiliations

  1. Department of Mathematics and Computer Science, University of Missouri–St. Louis, Chesterfield, MO, USA

    Prof. Sanjiv K. Bhatia

  2. Computer Science Engineering Department, ABES Engineering College, Ghaziabad, Uttar Pradesh, India

    Dr. Shailesh Tiwari

  3. Shanghai Advanced Research Institute, Pudong, China

    Dr. Su Ruidan

  4. National Institute of Technology Agartala, Agartala, Tripura, India

    Dr. Munesh Chandra Trivedi

  5. Computer Science Engineering Department, Motilal Nehru National Institute of Technology, Allahabad, Uttar Pradesh, India

    Dr. K. K. Mishra

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Vanualailai, J., Raj, J., Raghuwaiya, K. (2021). Autonomous Quadrotor Maneuvers in a 3D Complex Environment. In: Bhatia, S.K., Tiwari, S., Ruidan, S., Trivedi, M.C., Mishra, K.K. (eds) Advances in Computer, Communication and Computational Sciences. Advances in Intelligent Systems and Computing, vol 1158. Springer, Singapore. https://doi.org/10.1007/978-981-15-4409-5_20

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