基于人工势场的固定翼无人机动态环境避碰算法重构
机器人学
2024-04-24 v3
摘要
随着微型无人机在民用工作领域日益有用，对使其能够在杂乱环境中安全作业的方法的需求也在增长，特别是对于固定翼无人机，因为它们无法遵循停止-决策-执行的方法。本文介绍了初步研究，旨在基于人工势场算法中所用斥力的改进定义来设计一种反应式避碰算法，以允许固定翼无人机在杂乱、动态环境中进行可行且安全的导航。我们给出了改进定义在多种场景下的仿真结果，并讨论了可能的未来研究以改进这些结果。
引用
@article{arxiv.2208.03117,
title = {A reformulation of collision avoidance algorithm based on artificial potential fields for fixed-wing UAVs in a dynamic environment},
author = {Astik Srivastava and P. B. Sujit},
journal= {arXiv preprint arXiv:2208.03117},
year = {2024}
}
备注
This paper presents a preliminary work and is not intended for publication. Correction: There was a typo in equation 8 of this paper that has been corrected. Still, it is advised to kindly refer the updated version of this article available here for pdf (https://www.researchgate.net/publication/371878158_A_Modified_Artificial_Potential_Field_for_UAV_Collision_Avoidance)