Extreme Maneuvering Control and Planning of Multi-Rotor UAV for High-Speed Invading Target Avoidance

Quadrotor UAVs are widely used in military, ecological, environmental, and other fields because of their many advantages, such as flexible movement, vertical takeoff and landing, quadrotor UAVs require the active obstacle avoidance capabilities for invading objects in complex scenarios, while current research is mainly focused on obstacle avoidance under smooth motion conditions, resolve the dynamic high-speed or sudden invading object avoidance problem is difficult. In this paper, we propose a novel active avoidance method for high-speed object invasion based on extreme maneuver controlling. First, design the hybrid control system for the quadrotor UAV to switch between the smooth flight mode and the extreme maneuvering mode respectively. Second, plan the UAV's trajectory and angular rate to ensure high-speed smooth flight and perform extreme maneuvers. Finally, we carried out three comparative experiments and the results demonstrate extreme maneuvering obstacle avoidance strategy is effective.