Work

Multicopter Interception Control Based on Visual Servo and Virtual Tube in a Cluttered Environment

Year: 2025

Type: article

Abstract: This paper presents a method of multicopter interception control based on visual servo and virtual tube in a cluttered environment. The proposed hybrid heuristic function improves the efficiency of the A∗algorithm. The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A∗algorithm. In six different simulation scenarios, the efficiency of the modified A∗algorithm is 6.2% higher than that of the traditional A∗algorithm. The efficiency of path planning and virtual tube planning is verified by simulations. The effectiveness of interception control is verified by a software-in-loop (SIL) simulation.

Source: Journal of Systems Engineering and Electronics

DOI: 10.23919/jsee.2025.000037

Authors: Yangjie Lyu, Yan Gao, Guoyuan Qi

Institution: Tiangong University

Language: English

Topic: Guidance and Control Systems

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funder: National Natural Science Foundation of China

Award: G1239196211