Low-cost adaptive obstacle avoidance trajectory control for express delivery drone
<|reference_start|>Low-cost adaptive obstacle avoidance trajectory control for express delivery drone: This paper studies quadcopters obstacle avoidance trajectory control (OATC) problem for express delivery. A new nonlinear adaptive learning controller that is low-cost and portable to different wheelbase sizes is proposed to adapt to large-angle maneuvers and load changes in UAV delivery missions. The controller consists of a nonlinear variable gain (NLVG) function and an extreme value search (ES) algorithm to reduce overshoot and settling time. Finally, simulations were conducted on a quadcopter to verify the effectiveness of the proposed control scheme under two typical collision-free trajectories.<|reference_end|>
@article{zhang2024low-cost,
    title={Low-cost adaptive obstacle avoidance trajectory control for express
  delivery drone},
    author={Yanhui Zhang, Caisheng Wei, Yifan Zhang, Congcong Tian, Weifang Chen},
    journal={arXiv preprint arXiv:2403.19956},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.19956},
    primaryClass={eess.SY cs.SY}
}