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.
Cooperative Local Path Planning for Multi-unmanned Vehicles Formation Using the Enhanced Artificial Potential Field
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2023 ; Nanjing, China September 09, 2023 - September 11, 2023
Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) ; Chapter : 34 ; 380-391
2024-04-27
12 pages
Article/Chapter (Book)
Electronic Resource
English
Cooperative path planning of unmanned aerial vehicles
TIBKAT | 2011
|Cooperative path planning of unmanned aerial vehicles
TIBKAT | 2011
|Cooperative path planning of unmanned aerial vehicles
SLUB | 2011
|Cooperative Path Planning of Unmanned Aerial Vehicles
AIAA | 2011
|BOOK REVIEW - Cooperative Path Planning of Unmanned Aerial Vehicles
Online Contents | 2011
|