Three-Dimensional Autonomous Obstacle Avoidance Algorithm for UAV Based on Circular Arc Trajectory

This paper proposes an innovative and efficient three-dimensional (3D) autonomous obstacle algorithm for unmanned aerial vehicles (UAVs) which works by generating circular arc trajectories to avoid obstacles. Firstly, information on irregular obstacles is obtained onboard detection system; this then transformed into standard convex bodies, are used generate avoidance trajectories, the problem turned a trajectory tracking strategy. Then, basis of geometric relationship between UAV modeling, working mechanism developed. The rules detection, direction, criterion success defined different types. Finally, numerical simulations scenarios show that proposed can static dynamic effectively implement missions UAVs well.