Unmanned Aerial Vehicle Obstacle Avoidance Based Custom Elliptic Domain
Yong Liao,
Yuxin Wu,
Shichang Zhao
et al.
Abstract:The velocity obstacles (VO) method is widely employed in real-time obstacle avoidance research for UAVs due to its succinct mathematical foundation and rapid, dynamic planning abilities. Traditionally, VO assumes a circle protection domain with a fixed radius, leading to issues such as excessive conservatism of obstacle avoidance areas, longer detour paths, and unnecessary avoidance angles. To overcome these challenges, this paper firstly reviews the fundamentals and pre-existing defects of the VO methodology.… Show more
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