TY - GEN
T1 - Design of a Strategy for Planning of Trajectories with Avoidance of Obstacles of a Quadrotor Drone Used in the Characterization of Geological
AU - Mogollon Mendoza, R. L.
AU - Montes Monterrey, F. P.
AU - Moncada Guayazan, C. E.
AU - Roa Prada, S.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/4
Y1 - 2020/11/4
N2 - This article focuses on the development of an algorithm for a Quadrotor-type Drone that allows it to recognize the environment and move around in it by avoiding obstacles. This article covers the simulation phase that takes place in the MATLAB software, where algorithms for planting trajectories in known static environments were created in two stages: an artificial force field (APF) model is created for each element in the environment using sigmoid functions, the trajectories are subsequently calculated using gradient descent based strategies. Two strategies were developed, the first based on mobile points that interconnect the drone with the goal, where later each point moves towards areas free from the influence of obstacles, following the potential field, which makes paths free of obstacles. The second is based on the use of the concept of safe zones, which is used as a criterion to update the position of the points.
AB - This article focuses on the development of an algorithm for a Quadrotor-type Drone that allows it to recognize the environment and move around in it by avoiding obstacles. This article covers the simulation phase that takes place in the MATLAB software, where algorithms for planting trajectories in known static environments were created in two stages: an artificial force field (APF) model is created for each element in the environment using sigmoid functions, the trajectories are subsequently calculated using gradient descent based strategies. Two strategies were developed, the first based on mobile points that interconnect the drone with the goal, where later each point moves towards areas free from the influence of obstacles, following the potential field, which makes paths free of obstacles. The second is based on the use of the concept of safe zones, which is used as a criterion to update the position of the points.
KW - Trajectory
KW - obstacles
KW - quadrotor and environment
UR - http://www.scopus.com/inward/record.url?scp=85099241671&partnerID=8YFLogxK
U2 - 10.1109/CIIMA50553.2020.9290296
DO - 10.1109/CIIMA50553.2020.9290296
M3 - Libros de Investigación
AN - SCOPUS:85099241671
T3 - 2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings
BT - 2020 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020 - Conference Proceedings
A2 - Colorado, Luz Alejandra Magre
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Congress of Mechatronics Engineering and Automation, CIIMA 2020
Y2 - 4 November 2020 through 6 November 2020
ER -