To deal with dynamic path planning of unmanned aerial vehicles(uav) in the complicated 3-D environment, a new method that combines the Lyapunov theorem with the artificial potential is proposed. The mission region is described as the artificial potential field. In this paper, it proves that the balance point is a saddle point, only when uav reaches the target, the balance point is stable, the rest of the balance point are divergent, so uav can escape the minimum point as soon as possible. The simulation results show that this proposed method can effectively make uav avoid collision, and escape well the local minimum value point. The optimization results are better than the simplex artificial potential field, and have better optimization precision and tracing speed.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    The Simulation of the UAV Collision Avoidance Based on the Artificial Potential Field Method


    Beteiligte:
    Liu, Jian-Ying (Autor:in) / Guo, Zi-Qi (Autor:in) / Liu, Shi-Yue (Autor:in)


    Erscheinungsdatum :

    2012


    Format / Umfang :

    5 Seiten




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Vehicle active collision avoidance method based on artificial potential field method

    WANG KEFENG / XIA JIANQIAO / YUAN CHAOCHUN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    The Simulation of the UAV Collision Avoidance Based on the Artificial Potential Field Method

    Liu, Jian Ying ;Guo, Zi Qi ;Liu, Shi Yue | Trans Tech Publications | 2012


    VESSEL COLLISION AVOIDANCE METHOD BASED ON ARTIFICIAL POTENTIAL FIELD METHOD AND SYSTEM

    CHUNG FENG-YEANG / CHU CHUN-HAN / LIAO CHI-MIN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Design Research on Vehicle Collision Avoidance Based on Artificial Potential Field

    Liu, Ying Jie ;Zhao, You Qun ;Zhou, Xiao Feng | Trans Tech Publications | 2012


    A Modified Artificial Potential Field for UAV Collision Avoidance

    Srivastava, Astik / Vasudevan, V. R. / Harikesh et al. | IEEE | 2023