학술논문
Optimized Artificial Potential Fields for Obstacle Avoidance of Unmanned Aerial Vehicles
Document Type
Conference
Source
2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation (ICAMIMIA) Advanced Mechatronics, Intelligent Manufacture and Industrial Automation (ICAMIMIA), 2023 International Conference on. :1-6 Nov, 2023
Subject
Language
ISSN
2832-8353
Abstract
The obstacle avoidance method for unmanned aerial vehicles is presented in this paper. Obstacle avoidance is a crucial ability necessary in the operation of autonomous vehicles when they are required to follow a path that passes obstacles. The artificial potential field (APF) algorithm is a path-planning algorithm developed in robotics that allows the avoidance of static obstacles. In this paper, the optimized APF has been applied. The optimized APF has an advantage over the classic APF, namely, avoiding local minima and unreached targets. It can be shown that the algorithm has been successfully applied in simulation to perform obstacle avoidance in several scenarios.