Low-cost adaptive obstacle avoidance trajectory control for express delivery drone
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | |
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| _version_ | 1866910389886779392 |
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| author | Zhang, Yanhui Wei, Caisheng Zhang, Yifan Tian, Congcong Chen, Weifang |
| author_facet | Zhang, Yanhui Wei, Caisheng Zhang, Yifan Tian, Congcong Chen, Weifang |
| contents | This paper studies quadcopters obstacle avoidance trajectory control (OATC) problem for express delivery. A new nonlinear adaptive learning controller that is low-cost and portable to different wheelbase sizes is proposed to adapt to large-angle maneuvers and load changes in UAV delivery missions. The controller consists of a nonlinear variable gain (NLVG) function and an extreme value search (ES) algorithm to reduce overshoot and settling time. Finally, simulations were conducted on a quadcopter to verify the effectiveness of the proposed control scheme under two typical collision-free trajectories. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_19956 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Low-cost adaptive obstacle avoidance trajectory control for express delivery drone Zhang, Yanhui Wei, Caisheng Zhang, Yifan Tian, Congcong Chen, Weifang Systems and Control This paper studies quadcopters obstacle avoidance trajectory control (OATC) problem for express delivery. A new nonlinear adaptive learning controller that is low-cost and portable to different wheelbase sizes is proposed to adapt to large-angle maneuvers and load changes in UAV delivery missions. The controller consists of a nonlinear variable gain (NLVG) function and an extreme value search (ES) algorithm to reduce overshoot and settling time. Finally, simulations were conducted on a quadcopter to verify the effectiveness of the proposed control scheme under two typical collision-free trajectories. |
| title | Low-cost adaptive obstacle avoidance trajectory control for express delivery drone |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.19956 |