Provided is a method of avoiding collision of an unmanned aerial vehicle with an obstacle, the method including: calculating two potential fields using current positional information of the unmanned aerial vehicle, a target point that is set, and positional information of the obstacle measured by a sensor; computing an attractive force and a repulsive force by differentiating the computed potential fields, respectively; computing a direction of a potential force that results from adding up the computed attractive force and repulsive force; and performing control that brings about a change from the computed direction of the potential force to a direction in which the unmanned aerial vehicle moves.
METHOD OF AVOIDING COLLISION OF UNMANNED AERIAL VEHICLE
VERFAHREN ZUR VERMEIDUNG EINER KOLLISION EINES UNBEMANNTEN LUFTFAHRZEUGS
PROCÉDÉ POUR ÉVITER UNE COLLISION DE VÉHICULE AÉRIEN SANS PILOTE
2021-09-01
Patent
Electronic Resource
English