Multi-rotor UAV Track Planning Based on Improved Artificial Potential Field

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	Multi-rotor UAV Track Planning Based on Improved Artificial Potential Field
	Yang LY(杨丽英)3,4 ; Bi KY(毕开元)2,3,4; He YQ(何玉庆)3,4 ; Han ZH(韩忠华)1,2
	2019
会议日期	July 13-15, 2019
会议地点	Tianjin, China
关键词	Track planning Grid model A* algorithm Artificial potential field
页码	1291-1302
英文摘要	An improved artificial potential field (APF) method is proposed to solve the multi-rotor UAV flight path planning problem in this paper. Firstly, the grid method is adopted to build the environment model. After that, the A* algorithm is for generating the global path, and performs optimization for the node on the global path. Finally, the potential function of the traditional APF method is improved that an attraction force made by the global path to the multi-rotor drone is introduced, so the UAV can move guided by both obstacle and target together. Simulation results show that the proposed method can effectively correct the defects and deficiencies of the traditional APF method. The trajectory planning quality of multi-rotor UAVs in static and dynamic environments can be improved with the combination of the global advantages of A* algorithm and the APF method based real-time obstacle avoidance capability.
产权排序	1
会议录	Proceedings of the 11th International Conference on Modelling, Identification and Control, ICMIC 2019
会议录出版者	Springer
会议录出版地	Berlin
语种	英语
ISSN号	1876-1100
ISBN号	978-981-15-0473-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26139]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Bi KY(毕开元)
作者单位	1.Department of Digital Factory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Faculty of Information and Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Yang LY,Bi KY,He YQ,et al. Multi-rotor UAV Track Planning Based on Improved Artificial Potential Field[C]. 见:. Tianjin, China. July 13-15, 2019.