{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T23:48:22Z","timestamp":1771026502562,"version":"3.50.1"},"reference-count":37,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2023,6,25]],"date-time":"2023-06-25T00:00:00Z","timestamp":1687651200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41875027"],"award-info":[{"award-number":["41875027"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["NJ2022-02"],"award-info":[{"award-number":["NJ2022-02"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2021KLOP005"],"award-info":[{"award-number":["2021KLOP005"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Jiangsu Province Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project","award":["41875027"],"award-info":[{"award-number":["41875027"]}]},{"name":"Jiangsu Province Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project","award":["NJ2022-02"],"award-info":[{"award-number":["NJ2022-02"]}]},{"name":"Jiangsu Province Modern Agricultural Machinery Equipment and Technology Demonstration and Promotion Project","award":["2021KLOP005"],"award-info":[{"award-number":["2021KLOP005"]}]},{"name":"Jiangsu Province ASIC Key Laboratory Open Foundation","award":["41875027"],"award-info":[{"award-number":["41875027"]}]},{"name":"Jiangsu Province ASIC Key Laboratory Open Foundation","award":["NJ2022-02"],"award-info":[{"award-number":["NJ2022-02"]}]},{"name":"Jiangsu Province ASIC Key Laboratory Open Foundation","award":["2021KLOP005"],"award-info":[{"award-number":["2021KLOP005"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes an improved 3D-Vector Field Histogram (3D-VFH) algorithm for autonomous flight and local obstacle avoidance of multi-rotor unmanned aerial vehicles (UAVs) in a confined environment. Firstly, the method employs a target point coordinate system based on polar coordinates to convert the point cloud data, considering that long-range point cloud information has no effect on local obstacle avoidance by UAVs. This enables UAVs to effectively utilize obstacle information for obstacle avoidance and improves the real-time performance of the algorithm. Secondly, a sliding window algorithm is used to estimate the optimal flight path of the UAV and implement obstacle avoidance control, thereby maintaining the attitude stability of the UAV during obstacle avoidance flight. Finally, experimental analysis is conducted, and the results show that the UAV has good attitude stability during obstacle avoidance flight, can autonomously follow the expected trajectory, and can avoid dynamic obstacles, achieving precise obstacle avoidance.<\/jats:p>","DOI":"10.3390\/s23135896","type":"journal-article","created":{"date-parts":[[2023,6,26]],"date-time":"2023-06-26T05:28:02Z","timestamp":1687757282000},"page":"5896","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["The Control Method of Autonomous Flight Avoidance Barriers of UAVs in Confined Environments"],"prefix":"10.3390","volume":"23","author":[{"given":"Tiantian","family":"Dong","sequence":"first","affiliation":[{"name":"School of Electronics and Information Engineering, Nanjing University of Information Science and Technology, Nanjing 210044, China"},{"name":"School of Microelectronics, Jiangsu Vocational College of Information Technology, Wuxi 214153, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3011-3113","authenticated-orcid":false,"given":"Yonghong","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electronics and Information Engineering, Nanjing University of Information Science and Technology, Nanjing 210044, China"}]},{"given":"Qianyu","family":"Xiao","sequence":"additional","affiliation":[{"name":"School of Applied Technology, Changzhou University, Changzhou 213164, China"}]},{"given":"Yi","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Applied Technology, Changzhou University, Changzhou 213164, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,6,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"108299","DOI":"10.1016\/j.compeleceng.2022.108299","article-title":"A finite time composite control method for quadrotor UAV with wind disturbance rejection","volume":"103","author":"Li","year":"2022","journal-title":"Comput. 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