Naslov
Path Planning with Potential Field-Based Obstacle Avoidance in a 3D Environment by an Unmanned Aerial Vehicle

Autori
Batinović, Ana ; Goričanec, Jurica ; Marković, Lovro ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2022 International Conference on Unmanned Aircraft Systems (ICUAS) / - : Institute of Electrical and Electronics Engineers (IEEE), 2022, 394-401

ISBN
978-1-6654-0593-5

Skup
International Conference on Unmanned Aircraft Systems (ICUAS)

Mjesto i datum
Dubrovnik, Hrvatska, 21.06.2022. - 24.06.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Three-dimensional displays, Laser radar, Trajectory planning, Autonomous aerial vehicles, Real-time systems, Trajectory

Sažetak
N this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles equipped with 3D sensors, such as LiDARs. It performs obstacle avoidance in real time and on an on-board computer. We present a novel algorithm based on the conventional Artificial Potential Field (APF) that corrects the planned trajectory to avoid obstacles. To this end, our modified algorithm uses a rotation-based component to avoid local minima. The smooth trajectory following, achieved with the MPC tracker, allows us to quickly change and re-plan the UAV trajectory. Comparative experiments in simulation have shown that our approach solves local minima problems in trajectory planning and generates more efficient paths to avoid potential collisions with static obstacles compared to the original APF method.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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