The Simulation of the UAV Collision Avoidance Based on the Artificial Potential Field Method
To deal with dynamic path planning of unmanned aerial vehicles(uav) in the complicated 3-D environment,a new method that combines the Lyapunov theorem with the artificial potential is proposed.The mission region is described as the artificial potential field.In this paper,it proves that the balance point is a saddle point,only when uav reaches the target,the balance point is stable,the rest of the balance point are divergent,so uav can escape the minimum point as soon as possible.The simulation results show that this proposed method can effectively make uav avoid collision,and escape well the local minimum value point.The optimization results are better than the simplex artificial potential field,and have better optimization precision and tracing speed.
Artificial potential field Lyapunov theorem Collision avoidance Uav
Jian Ying Liu Zi Qi Guo Shi Yue Liu
Automation college of Beijing Institute of Technology,No.5 Zhongguancun South Street,Haidian Distric Institute of Remote Sensing Application Chinese Academy of Sciences,No.20 DaTun Road,ChaoYang Distri Beijing Institute of Technology,No.5 Zhongguancun South Street,Haidian District,Beijing,China
国际会议
广州
英文
1400-1404
2012-11-16（万方平台首次上网日期，不代表论文的发表时间）