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arXiv · 2403.19956

Low-cost adaptive obstacle avoidance trajectory control for express delivery drone

Yanhui Zhang·Caisheng Wei·Yifan Zhang·Congcong Tian·Weifang Chen
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Abstract

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.

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Yanhui Zhang, Caisheng Wei, Yifan Zhang, Congcong Tian, Weifang Chen. 2024-03-29. Low-cost adaptive obstacle avoidance trajectory control for express delivery drone. https://arxiv.org/abs/2403.19956

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