Collision and Terrain Avoidance for UAVs using the Potential Field Method

被引：0
|
作者：
Oland, Espen [1 ]
Kristiansen, Raymond [1 ]
机构：
[1] Narvik Univ Coll, Dept Technol, Narvik, Norway
来源：
2013 IEEE AEROSPACE CONFERENCE | 2013年
关键词：
D O I：
暂无
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
In this paper we study the problem of collision and terrain avoidance for multiple Unmanned Aerial Vehicles (UAVS) tracking a low altitude trajectory. By applying the artificial potential field method, the UAVS are able to avoid colliding with the terrain, as well as avoiding collisions with each other. The UAVs are modeled using a kinematic model with nonholonomic contraints, which through dynamic feedback linearization is controllable by using the artificial potential field method.
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页数：7
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