Real-Time Path Generation and Obstacle Avoidance for Multirotors: A Novel Approach

Multirotors, among all aerial vehicles, are fundamental instruments in many situations, i.e. video recording of sport events, leisure, environmental monitoring before or after a disaster. In particular, in the context of environmental monitoring, the possibility of following a predetermined path while avoiding obstacles is extremely relevant. In this work, we propose a novel method for path definition in presence of obstacles, which describes a curve as the intersection of two surfaces. The planner, based on that path definition along with a Cascaded control architecture and utilizing a nonlinear control technique for both control loops (position and attitude), creates a framework to manipulate the multicopters’ behaviors. The method is demonstrated to be able to generate a safe path taking into account obstacles perceived in real-time and avoids collisions. These algorithms are embedded in a software package to control the flight of a fully autonomous AscTec Firefly hexacopter with two cameras and onboard processing capabilities.