Local Path Planning and Obstacle Avoidance for an Omnicopter Platform

2026-09-03

AI Summary

本文针对杂乱环境下的无人机局部路径规划与避障问题，提出了一种基于6D-DWA的方法，并通过仿真验证了其在不同场景下的有效性。

Abstract

Autonomous unmanned aerial vehicles (UAVs) increasingly operate in cluttered environments where global planners such as RRT* are not directly deployable at control rates. This paper presents a real-time local planning and obstacle avoidance module for an omnidirectional multirotor (omnicopter) by extending the Dynamic Window Approach to six degrees of freedom (6D-DWA). Our method achieves real-time feasibility through (i) local-map voxelisation, (ii) a compact sphere-based approximation of the vehicle geometry, and (iii) adaptive velocity sampling in the 6D search space. To improve reactivity to unknown obstacles, we introduce a context-aware "Agile Mode" that adjusts scoring weights online to trade-off between goal progress, clearance, and heading/facing constraints during evasive manoeuvres. We evaluate our approach in simulation across computational stress tests, dense-waypoint path tracking, and static/unknown obstacle scenarios. Our planner runs consistently within a 0.2s control loop, tracks waypoint-dense global paths with < 0.1m average cross-track error and 13deg average heading error, and avoids collisions in static environments. For unknown obstacle avoidance, Agile Mode achieves 79.3% success for an off-centre obstacle and 41.4% for a centred obstacle, highlighting both the effectiveness of adaptive weighting and remaining limitations in highly constrained geometries.

Problem

• local path planning
• obstacle avoidance
• omnicopter
• real-time
• cluttered environments

Innovation

• 6D-DWA
• local-map voxelisation
• adaptive velocity sampling
• Agile Mode