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.
- Cylindrical obstacle
- Minimum distance technique
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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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