Abstract
To solve the problem of aggressive flight control, this paper designs the trajectory tracking controller and collision avoidance strategy for quadrotor. Firstly, a six degree of freedom model of quadrotor is established, and quaternion is used to represent the attitude error of a quadrotor, which is used to design the aggressive trajectory tracking controller. Secondly, the collision avoidance method based on artificial potential field is designed. The quadrotor can track the predetermined trajectory while avoiding high-speed moving obstacles under the control of virtual force. Finally, the simulation experiment of aggressive collision avoidance in typical environment is completed. Using the proposed method, the deviation from the desired position is half of the traditional method, and the safety distance from the moving obstacles is 1.5 times of traditional method while avoiding high-speed moving obstacles.
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Zhao, J., Cao, C., Cai, Z., Wang, Y. (2023). Aggressive Collision Avoidance and Control Method for Quadrotor. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_13
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DOI: https://doi.org/10.1007/978-981-19-6613-2_13
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