Gomes Caldeira, Alexandre (Universidade Federal de Viçosa), Vasconcelos, João Vítor (University Federal of Viçosa), Sarcinelli-Filho, Mário (Federal University of Espirito Santo), Brandao, Alexandre Santos (Federal University of Vicosa)

UAV Path-Following Strategy for Crossing Narrow Passages

Scheduled for presentation during the Regular Session "Autonomy I" (WeA1), Wednesday, September 2, 2020, 11:20−11:40, Macedonia Hall

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Integration of unmanned aerial vehicles in different tasks and services rely on their ability to deliberate and plan solutions to navigate an environment, which is often subject to geometric constraints that frequently cannot be tackled with classic obstacle avoidance. Therefore, we propose a smooth, closed path that ensures safe passage through challenging locations while respecting a robot's physical limitations. A novel approach for proposing control points in Bèzier curve path planning is outlined and a multi-layer control scheme is presented and validated in simulation and experiments with a varying number of robots and restrictions in motion.