Chapter 10

Obstacle Avoidance*


UAVs navigating in unstructured environments need to be capable of avoiding obstacles present in their trajectory. One of the most popular approaches used for this task is to include the Artificial Potential Field (APF) Method in the navigation algorithm. In this chapter the obstacle avoidance problem is solved using the APF methodology and a backstepping nonlinear control algorithm. The APF method is based on the interaction of attractive and repulsion fields to determine a resultant force which is used to avoid obstacles. The control technique is separated in two prioritized levels: the first level controls the attitude of a quadcopter vehicle and the second deals with its position; in this level ...

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