An enhanced approach utilizing APF(artificial potential field) method is introduced in this paper. By adopting this approach, the challenge of local minima that may occur when dealing with local path planning for unmanned vehicles is tackled. When the unmanned vehicle approaches an obstacle, a virtual attractive potential field is implemented, utilizing the deviation in the heading angle of the vehicle to control the steering angle. Consequently, the vehicle can avoid obstacles, resolving the issue of local minima and enabling its application in path planning for multi-unmanned vehicles. The ROS with Gazebo simulation platform is used to verify the enhanced algorithm’s effectiveness in multi-unmanned vehicle path planning in an unknown environment.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Cooperative Local Path Planning for Multi-unmanned Vehicles Formation Using the Enhanced Artificial Potential Field


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Qu, Yi (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Fu, Wenxing (Herausgeber:in) / Zhang, Xin (Autor:in) / Duan, Xuting (Autor:in) / Zhou, Jianshan (Autor:in) / Zhang, Long (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023



    Erscheinungsdatum :

    27.04.2024


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Cooperative path planning of unmanned aerial vehicles

    Tsourdos, Antonios / White, Brian / Shanmugavel, Madhavan | TIBKAT | 2011


    Cooperative path planning of unmanned aerial vehicles

    Tsourdos, Antonios / White, Brian / Shanmugavel, Madhavan | TIBKAT | 2011


    Cooperative path planning of unmanned aerial vehicles

    Tsourdos, Antonios ;White, Brian ;Shanmugavel, Madhavan | SLUB | 2011