Improved Potential Field Method for Unknown Obstacle Avoidance Using UAV in Indoor Environment

被引：0
作者：
Thi Thoa Mac [1 ,2 ]
Copot, Cosmin [1 ]
Hernandez, Andres [1 ]
De Keyser, Robin [1 ]
机构：
[1] Univ Ghent, Dept Elect Energy Syst & Automat EeSA, B-9000 Ghent, Belgium
[2] Hanoi Univ Sci & Technol, Sch Mech Engn, Hanoi, Vietnam
来源：
2016 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI) | 2016年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper proposes a solution to real-time collision-free path planning for an AR. Drone 2.0 UAV using only on-board visual and inertial sensing. The proposed solution consists in a modified potential field method to overcome the non-reachable goal problem. The approach comprises three key components: pattern-based ground for localization, proposed potential field method for path planning and PD controllers for steering commands. By applying the proposed method, the quadrotor is successful in avoiding known/unknown obstacles and reaching the target in complex indoor environment. The results demonstrate the feasibility of the proposed strategy, which opens new possibilities for the agent to perform autonomous navigation.
引用
收藏
页码：345 / 350
页数：6
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