{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T06:09:27Z","timestamp":1778825367365,"version":"3.51.4"},"reference-count":0,"publisher":"Kaunas University of Technology (KTU)","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["ITC"],"abstract":"<jats:p>In this paper,\u00a0obstacle-avoidance path planning and robust trajectory tracking are addressed for quadrotor UAVs in the presence of model uncertainties and pulse disturbances. By using the Newton\u2013Euler formulation, a 6-DOF nonlinear dynamic model is derived to construct a\u00a0constrained 3D path-planning problem. To overcome the shortcomings of conventional PSO in terms of premature convergence and poor path smoothness, a hybrid adaptive multi-topology PSO with intelligent strategy learning and cubic B-spline smoothing, termed\u00a0as HAMT-AISL-PSO, is proposed, which jointly enhances the global search ability and path executability. In the aspect of tracking control, a linear active disturbance rejection control (LADRC) scheme with a linear extended state observer is designed to estimate and compensate the total disturbances in real time. Simulation results on a cluttered 3D environment\u00a0demonstrate\u00a0that, compared with the standard PSO, the average cost function and average path length are reduced by 25.20% and 20.45%, respectively.\u00a0Under a 3D spiral reference and pulse torque disturbances, LADRC achieves faster transient response and near-zero steady-state error with much smaller tracking deviations than PID, hence verifying the effectiveness of the proposed planning-and-control framework.\u00a0<\/jats:p>","DOI":"10.5755\/j01.itc.55.1.43501","type":"journal-article","created":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T06:40:42Z","timestamp":1775198442000},"page":"257-279","source":"Crossref","is-referenced-by-count":0,"title":["Obstacle Avoidance Path Planning and Robust Tracking Control of Quadrotor UAVs under\u00a0Uncertain Disturbances"],"prefix":"10.5755","volume":"55","author":[{"given":"Kaiwen","family":"Yang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shihong","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiahui","family":"Ren","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenchao","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"3786","published-online":{"date-parts":[[2026,4,3]]},"container-title":["Information Technology and Control"],"original-title":[],"link":[{"URL":"https:\/\/itc.ktu.lt\/index.php\/ITC\/article\/download\/43501\/21759","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/itc.ktu.lt\/index.php\/ITC\/article\/download\/43501\/21759","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T05:25:38Z","timestamp":1778822738000},"score":1,"resource":{"primary":{"URL":"https:\/\/itc.ktu.lt\/index.php\/ITC\/article\/view\/43501"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4,3]]},"references-count":0,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2026,3,25]]}},"URL":"https:\/\/doi.org\/10.5755\/j01.itc.55.1.43501","relation":{},"ISSN":["2335-884X","1392-124X"],"issn-type":[{"value":"2335-884X","type":"electronic"},{"value":"1392-124X","type":"print"}],"subject":[],"published":{"date-parts":[[2026,4,3]]}}}