Research Article Open Access

Quadrotor Obstacle Avoidance Based on Integral Backstepping

Lianchuan Zhang1, Young Baik Kim1 and Kil To Chong2
  • 1 Chonbuk National University, Korea
  • 2 KEPCO Engineering and Construction Company, Korea
American Journal of Applied Sciences
Volume 13 No. 7, 2016, 883-890

DOI: https://doi.org/10.3844/ajassp.2016.883.890

Submitted On: 12 January 2016 Published On: 27 July 2016

How to Cite: Zhang, L., Kim, Y. B. & Chong, K. T. (2016). Quadrotor Obstacle Avoidance Based on Integral Backstepping. American Journal of Applied Sciences, 13(7), 883-890. https://doi.org/10.3844/ajassp.2016.883.890

Abstract

This paper addressed obstacle avoidance problem of a quadrotor in outdoor environment. Path planning was finished by employing classical Dijkstra algorithm and the controller of the quadrotor adopted integral backstepping method. In order to get a smooth trajectory with time optimal and acceleration constraints properties, quantic polynomials were utilized to generate trajectory file. The scheme is particularly practical and useful because of its small computation burden and feasibility. Simulations have been done to verify the performance of the whole system. As a result, the quadrotor successfully tracked the path without any collision with obstacles except that there are some small error in the final part of position tracking performance (±1m) and some small delay in the attitude tracking about 0.3 ms. In conclusion, the proposed method showed acceptable performance for quadrotor obstacle avoidance.

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Keywords

  • Quadrotor
  • Obstacle Avoidance
  • Dijkstra
  • Integral Backstepping