Collision Free 3D Navigation Algorithms and Their Implementation in an Autonomous Flying Robot

Ibrahim, I. N., Karam, A. A., Al Akkad, M. A.

Abstract. In this paper, a method for collision-free three-dimensional autonomous navigation of an underactuated coupled non-holonomic unmanned aerial vehicle (UAV) among obstacles was proposed. This method will be the basis for designing a planner for the UAV trajectory guidance in a 3D cluttered environment. The planner assumes that the cost of flying over an area is independent of the path through which the UAV reaches that area, however this is not always true. Moreover, the path problem is not formulated as a matter of numeric cost minimization to be solved by methods like dynamic programming, which is time-consuming. A dynamic model of six degrees of freedom hexacopter equipped with a robotic arm has been formulated using Newton-Euler’s method. Then, the equations of motion of the UAV are derived by including disturbances analysis. The derived dynamic model reflects the real motion of the hexacopter with respect to the earth, which is also characterized by nonlinearity, time variance, underactuation and coupling among the equations' variables. This paper suggests bio-inspired and sample-based algorithms in order to solve and optimize the three-dimensional path-planning problem. A unique real-time obstacle avoidance approach based on artificial potential field concept in addition to an off-line genetic algorithm were investigated.

Keywords: evolutionary algorithm, sample-based algorithm, bio-inspired algorithm, artificial potential field, genetic algorithms, unmanned aerial vehicles, path planning, collision avoidance

GOST 7.1-2003 citation for works in English:Цитирование по ГОСТ 7.1-2003 для работ на английском языке:
Ibrahim, I. N., Karam, A. A., Al Akkad, M. A. Collision free 3D navigation algorithms and their implementation in an autonomous flying robot // Instrumentation Engineering, Electronics and Telecommunications – 2017 : Proceedings of the III International Forum (Izhevsk, Russia, November 22–24, 2017). – Izhevsk : Publishing House of Kalashnikov ISTU, 2018. – Pp. 6–19.

GOST 7.1-2003 citation for works in Russian:Цитирование по ГОСТ 7.1-2003 для работ на русском языке:
Ibrahim, I. N., Karam, A. A., Al Akkad, M. A. Collision free 3D navigation algorithms and their implementation in an autonomous flying robot // Приборостроение, электроника и телекоммуникации – 2017 : Сб. ст. III Междунар. форума (г. Ижевск, 22–24 ноября 2017 г.). – Ижевск : Изд-во ИжГТУ имени М. Т. Калашникова, 2018. – С. 6–19.

APA v6 сitation:Цитирование в формате APA v6:
Ibrahim, I. N., Karam, A. A., & Al Akkad, M. A. (2018). Collision free 3D navigation algorithms and their implementation in an autonomous flying robot. In Instrumentation Engineering, Electronics and Telecommunications – 2017. Proceedings of the III International Forum (pp. 6–19). Izhevsk, Russia : Publishing House of Kalashnikov ISTU.