A 3D collision avoidance strategy for UAV with physical constraints

被引：55
作者：
Zhu Lihua [1 ]
Cheng Xianghong [1 ]
Yuan Fuh-Gwo [2 ]
机构：
[1] Southeast Univ, Key Lab Micro Inertial Instrument & Adv Nav, Nanjing 210096, Jiangsu, Peoples R China
[2] N Carolina State Univ, Dept Mech & Aerosp Engn, Raleigh, NC 27695 USA
来源：
MEASUREMENT | 2016年 / 77卷
关键词：
UAV; Collision avoidance path planning; Physical constraints; MAPF;
D O I：
10.1016/j.measurement.2015.09.006
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The main goal of this research effort is to find a flyable collision-free path for an unmanned aerial vehicle (UAV) in a dynamic environment. Given that the UAV path planning needs to adapt in near real-time to the dynamic nature of the operational scenario, and to react rapidly to updates in the situational awareness, a modified artificial potential field (MAPF) approach is utilized to provide collision avoidance in view of pop-up threats and a random set of moving obstacles. To ensure a practically reachable trajectory, this paper proposes a constraint reference frame to develop MAPF so that the decomposed forces from MAPF can be matched with the physical constraints of the UAV for online adjustment. Simulations and experimental results provide promising validation in terms of the efficiency and scalability of the proposed approach. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码：40 / 49
页数：10
相关论文
共 23 条
  • [1] Path planning for unmanned aerial vehicle under complicated conditions and hazards
    Andreev, M. A.
    Miller, A. B.
    Miller, B. M.
    Stepanyan, K. V.
    [J]. JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 2012, 51 (02) : 328 - 338
  • [2] Bone E., 2003, UNMANNED AERIAL VEHI
  • [3] Choi H., 2011, 2011 3rd IEEE International Memory Workshop (IMW), P1, DOI DOI 10.1109/IMW.2011.5873243
  • [4] A novel approach for trajectory tracking of UAVs
    De Filippis, Luca
    Guglieri, Giorgio
    Quagliotti, Fulvia B.
    [J]. AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY, 2014, 86 (03) : 198 - 206
  • [5] Department of Defense, 2009, UNM SYST INT ROADM 2, P110
  • [6] A FORMAL BASIS FOR HEURISTIC DETERMINATION OF MINIMUM COST PATHS
    HART, PE
    NILSSON, NJ
    RAPHAEL, B
    [J]. IEEE TRANSACTIONS ON SYSTEMS SCIENCE AND CYBERNETICS, 1968, SSC4 (02): : 100 - +
  • [7] Comparison of Unmanned Aerial System Collision Avoidance Algorithms in a Simulated Environment
    Holt, James
    Biaz, Saad
    Aji, Chadia Affane
    [J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2013, 36 (03) : 881 - 883
  • [8] Khatib O., 1985, Proceedings. 1985 IEEE Inter- national Conference on, P500
  • [9] KOREN Y, 1991, 1991 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, P1398, DOI 10.1109/ROBOT.1991.131810
  • [10] Kuffner J. J. Jr., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P995, DOI 10.1109/ROBOT.2000.844730
123