Three-Dimensional Obstacle Avoidance Strategy for Fixed-Wing UAVs Based on Quaternion Method

Three-Dimensional Obstacle Avoidance Strategy for Fixed-Wing UAVs Based on Quaternion Method

This work provides a generalization of the three-dimensional velocity obstacle (VO) collision avoidance strategy for nonlinear second-order underactuated systems in three-dimensional dynamic uncertain environments. A hierarchical architecture is exploited to deal with conflicting multiple subtasks,...

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Bibliographic Details
Main Authors: Yue Qu, Wenjun Yi
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Applied Sciences
Subjects:
collision avoidance
second order
moving obstacles
kinodynamic constraints
hierarchical architecture
Online Access:https://www.mdpi.com/2076-3417/12/3/955

Internet

https://www.mdpi.com/2076-3417/12/3/955

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