Obstacle Avoidance with Zigzag Tentacles for Multirotor UAVs
Obstacle Avoidance with Zigzag Tentacles for Multirotor UAVs
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DOI：
10.1109/sii55687.2023.10039215
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发表时间：
2023-01
期刊：
影响因子：
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通讯作者：
Kazuya Arashi;Naoki Akai;Kane Saliou;S. Hara
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文献类型：
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作者：
Kazuya Arashi;Naoki Akai;Kane Saliou;S. Hara
提出了一种基于扩展触手的多旋翼无人机避障方法。我们的目标是在狭窄和复杂的空间中实现快速和安全的自主飞行。传统的基于触手的避障方法只能生成形状简单的候选路径。因此，无法找到绕过障碍物的路径，并且当导航狭窄空间时，由于触角无法充分延伸，因此需要降低UAV的移动速度。在所提出的方法中，锯齿形的触角生成。无人机可以在不降低速度的情况下飞越狭窄的空间，因为曲折的触角可以找到旁路。我们进行了模拟和实际的多旋翼无人机的实验。实验结果表明，该方法实现了快速、安全的自主飞行。此外，我们比较了所提出的方法与动态窗口的方法，这是一个传统的基于触手的方法。这种比较显示了锯齿形触角的有效性，即，提出的方法可以实现无人机的自主飞行，而传统方法会导致无人机被卡住。
In this paper, we present an extended tentacle-based obstacle avoidance method for multirotor unmanned aerial vehicles (UAVs). Our objective is to achieve a rapid and safe autonomous flight in narrow and complex spaces. Traditional tentacle-based obstacle avoidance methods generate only simple-shape candidate paths. Consequently, paths that bypass obstacles cannot be found and the moving speed of a UAV is needed to be decreased when navigating narrow spaces because the tentacles cannot be sufficiently extended. In the presented method, zigzag tentacles are generated. A UAV can fly through narrow spaces without decreasing its speed because the zigzag tentacles can find bypass paths. We conducted experiments with simulated and actual multirotor UAVs. The results show that the presented method achieved a rapid and safe autonomous flight in both experiments. In addition, we compare the presented method with the dynamic window approach which is a traditional tentacle-based method. This comparison shows the effectiveness of the zigzag tentacles, i.e., the presented method can achieve autonomous flight whereas the traditional method causes the UAV to become stuck.