Obstacle Avoidance-Based Autonomous Navigation of a Quadrotor System

Abstract

Livestock management is an emerging area of application of the quadrotor, especially for monitoring, counting, detecting, recognizing, and tracking animals through image or video footage. The autonomous operation of the quadrotor requires the development of an obstacle avoidance scheme to avoid collisions. This research develops an obstacle avoidance-based autonomous navigation of a quadrotor suitable for outdoor applications in livestock management. A Simulink model of the UAV is developed to achieve this, and its transient and steady-state performances are measured. Two genetic algorithm-based PID controllers for the quadrotor altitude and attitude control were designed, and an obstacle avoidance algorithm was applied to ensure the autonomous navigation of the quadrotor. The simulation results show that the quadrotor flies to the desired altitude with a settling time of 6.51 s, an overshoot of 2.65%, and a steady-state error of 0.0011 m. At the same time, the attitude controller records a settling time of 0.43 s, an overshoot of 2.50%, and a zero steady-state error. The implementation of the obstacle avoidance scheme shows that the distance threshold of 1 m is sufficient for the autonomous navigation of the quadrotor. Hence, the developed method is suitable for managing livestock with the average size of an adult sheep.

Keywords

• quadrotor
• PID
• obstacle avoidance
• autonomous navigation
• livestock management