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A collision-free trajectory generation and tracking method capable of re-planning unmanned aerial vehicle (UAV) trajectories can increase flight safety and decrease the possibility of mission failures. In this paper, a Markov decision process (MDP) based algorithm combined with backtracking method is presented to create a safe trajectory in the case of hostile environments. Subsequently, a differential...
A collision-free trajectory generation method capable of re-planning the trajectories of an unmanned aerial vehicle (UaV) can increase flight safety and decrease the possibility of mission failure. For this purpose, a Markov decision process (MDP) based algorithm combined with backtracking method, is presented to create a safe trajectory in the case of obstacles. Subsequently, a differential flatness...
This paper presents a new development of collision avoidance algorithm that ensures an Unmanned Aerial Vehicle (UAV) can avoid multiple intruders autonomously. Firstly, the Markov Decision Process (MDP) based approach generates the multiple threats resolution logic for the collision avoidance system. Secondly, the optimal trajectory is smoothed by the differential flatness technique where the constraints...
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