Obstacle Avoidance Algorithm for Swarm of Quadrotor Unmanned Aerial Vehicle Using Artificial Potential Fields

被引：0
|
作者：
Galvez, Reagan L. [1 ]
Faelden, Gerard Ely U. [1 ]
Maningo, Jose Martin Z. [1 ]
Nakano, Reiichiro Christian S. [1 ]
Dadios, Elmer P. [1 ]
Bandala, Argel A. [1 ]
Vicerra, Ryan Rhay P. [1 ]
Fernando, Arvin H. [1 ]
机构：
[1] De La Salle Univ, Gokongwei Coll Engn, Manila, Philippines
来源：
TENCON 2017 - 2017 IEEE REGION 10 CONFERENCE | 2017年
关键词：
artificial potential field; quadrotor; obstacle avoidance; swarm; unmanned aerial vehicle (UAV);
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Unmanned aerial vehicle that is moving from one place to another needs to have a real-time obstacle avoidance controller to prevent collisions in the obstacles around it. In this paper, the concept of artificial potential field is proposed to implement obstacle avoidance in swarm of quadrotors. This is based on the assumptions that the target and obstacle will introduce a certain force that will direct the robot to its destination. The effectiveness of this method was tested in a computer simulation and verified using real quadrotors.
引用
收藏
页码：2307 / 2312
页数：6
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