基于人工势场的多旋翼无人机避碰策略

IF 0.6 4区 计算机科学 Q4 COMPUTER SCIENCE, INFORMATION SYSTEMS
Stefan Van Der Veeken, J. Wubben, C. Calafate, Juan-Carlos Cano, P. Manzoni, J. Márquez-Barja
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引用次数: 3

摘要

多年来,无人驾驶飞行器(uav)的应用研究一直很受欢迎,正因为如此,广泛的商业和军事应用已经存在。如今,自主飞行的趋势正在稳步发展。自主飞行要求无人机具有在城市或其他具有挑战性的环境中导航的能力,而不会造成碰撞或危及人类。为了实现这一目标,需要使用安全可靠的避碰系统(CAS)。特别是,CAS需要成功地感知和检测与物体可能发生的碰撞,以有效地避开障碍物。存在多种不同的技术来实现CAS。本文提出了一种基于磁引力和斥力的避碰协议。结果表明,使用我们的协议,可以在各种场景中安全地避免碰撞,同时将开销时间保持在最低限度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Collision Avoidance Strategy For Multirrotor UAVs Based On Artificial Potential Fields
Since some years, research on the use of unmanned aerial vehicles (UAVs) has been very popular, and because of that a wide range of commercial and military applications already exists. Nowadays, the trend towards autonomous flying is growing steadily. Autonomous flying requires UAVs to have the ability to navigate in urban or other challenging environments without causing collisions or endangering humans. To achieve this objective, a safe and reliable collision avoidance system (CAS) needs to be used. In particular, a CAS needs to successfully sense and detect a possible collision with an object to efficiently avoid the obstacle. Multiple different techniques exist to implement a CAS. In this paper, we propose a collision avoidance protocol which is based on magnetic attraction and repulsion forces. The results show that, with the use of our protocol, collisions are safely avoided in various scenarios, while maintaining the overhead time to a minimum.
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来源期刊
Ad Hoc & Sensor Wireless Networks
Ad Hoc & Sensor Wireless Networks 工程技术-电信学
CiteScore
2.00
自引率
44.40%
发文量
0
审稿时长
8 months
期刊介绍: Ad Hoc & Sensor Wireless Networks seeks to provide an opportunity for researchers from computer science, engineering and mathematical backgrounds to disseminate and exchange knowledge in the rapidly emerging field of ad hoc and sensor wireless networks. It will comprehensively cover physical, data-link, network and transport layers, as well as application, security, simulation and power management issues in sensor, local area, satellite, vehicular, personal, and mobile ad hoc networks.
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