Three Dimensional Path Planning Based on Modified Potential Model for UAV Collision Avoidance

摘要：

As the missions of Unmanned Aerial Vehicle (UAV) increase in the various areas, UAV should accomplishgiven tasks under the wide variety of environments. Considering the situations of penetrating into the enemy territory, UAV has to make a detour around radars and ground-to-air missile sites to accomplish the mission. In this study, potential field method based on the information of terrains and obstacles is proposed to avoid dynamic obstacles and to follow the terrain. Improved potential field method defines a new attractive potential function with regard to goal, altitude, relative height from the terrain and a new repulsive potential function with regard to relative position, velocity between the UAV and the obstacles, and relative height deal with the terraia In three dimensional environments, the classical potential function tends to have many local minima. In order to address local minima problem, direction of attractive potential field for the goal has suggested with the direction of the gradient of the terrain toward the goal at the current position of the UAV. Numerical simulation demonstrates the effectiveness of the improved potential field method.

关键词： Unmanned Aerial Vehicle (UAV)s potential field potential function three dimensional path plan collision avoidance dynamic obstacle

作者: Shin Hyosub Seo Joongbo Kim Youdan

作者单位: School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, 151-742, Korea School of Mechanical and Aerospace Engineering, Seoul National University,Seoul, 151-742, Korea

会议类型: 国际会议

会议名称: 2010 Asia-Pacific International Symposium on Aerospace Technology(2010 亚太航空航天技术研讨会 APISAT 2010)

会议地点: 西安

会议语种:英文

页码: 644-647

在线出版日期: 2010-09-01（万方平台首次上网日期，不代表论文的发表时间）