@inproceedings{a851fdd71c274fdfa6da8bb98114d76f,
title = "Obstacle Avoidance and Trajectory Tracking Control of a Quadrotor UAV Under Wind Disturbance",
abstract = "This paper proposes a quadrotor control system based on active disturbance rejection control (ADRC) and presents an improved A* algorithm to achieve trajectory tracking and obstacle avoidance in the presence of wind. To reflect the real wind disturbance acting on the quadrotor, three types of wind are analyzed and a wind field model is established. On the basis of ADRC, a control system consisting of position feedback controller and attitude feedback controller is designed. Combined with two extended state observers, the controller is able to estimate the interference and mitigate it by compensation. In addition, an improved A* algorithm is presented to achieve global path planning. A time related obstacle avoidance trajectory is obtained by the algorithm. The simulation results validate the effectiveness of the proposed methods.",
keywords = "Obstacle avoidance, Trajectory tracking, Wind disturbance",
author = "Zhihao Cai and Zeyu Hao and Jiang Zhao and Yingxun Wang",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",
year = "2023",
doi = "10.1007/978-981-19-6613-2\_585",
language = "英语",
isbn = "9789811966125",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "6053--6062",
editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",
address = "德国",
}