Proceedings ArticleDOI
UAV obstacle avoidance using potential field under dynamic environment
Almira Budiyanto,Adha Imam Cahyadi,Teguh Bharata Adji,Oyas Wahyunggoro +3 more
- pp 187-192
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TLDR
To control the thrust of quadcopter so that it is in flying position, the value of value of roll (α) or pitch (β) must set to not equal or approaching 90° or -90° and not between -180° and 180° or between - 90° and 90°.Abstract:
In this paper, the potential field principle is applied to several UAVs (Unmanned Aerial Vehicles) for optimal path planning. Each UAV has its own goals and it is used the attractive potential field to reach the goals. On the contrary, each UAV is considered as obstacle for other UAVs that must be avoided. In this research, there are two types of obstacles, i.e the static and dynamic. The repulsive potential field principle is used to avoid for both static and dynamic obstacles. The whole method is implemented into Parrot AR Drone 2.0 Quadcopter model of UAV and simulated in Gazebo Simulator by Robot Operating System (ROS). The results of this research are to control the thrust of quadcopter so that it is in flying position, the value of value of roll (α) or pitch (β) must set to not equal or approaching 90° or −90° and not between −180° and 180° or between −90° and 90°. Based on the dynamic obstacle performance test with parameter tuning, the optimal avoidance is when the η value is 7.8 while when in static and dynamic test with parameter tuning, the optimal avoidance is when the η value is 7.9 noted by the fastest time and the shortest path.read more
Citations
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Journal ArticleDOI
Path planning techniques for unmanned aerial vehicles: A review, solutions, and challenges
Shubhani Aggarwal,Neeraj Kumar +1 more
TL;DR: Various path planning techniques for UAVs are classified into three broad categories, i.e., representative techniques, cooperative techniques, and non-cooperative techniques, with these techniques, coverage and connectivity of the UAV's network communication are discussed and analyzed.
Journal ArticleDOI
Routing and collision avoidance techniques for unmanned aerial vehicles: Analysis, optimal solutions, and future directions
Bhisham Sharma,Mohammad S. Obaidat,Mohammad S. Obaidat,Mohammad S. Obaidat,Vinay Sharma,Kuei-Fang Hsiao +5 more
TL;DR: There are various routing techniques, real‐time applications of UAVs which are elaborated in this paper, namely, representative, cooperative, and noncooperative techniques, and collision avoidance techniques which are very important for the obstacle‐free environment.
Journal ArticleDOI
To Smart City: Public Safety Network Design for Emergency
TL;DR: This paper proposes a system structure composed of a central agent and three layers: unmanned aerial vehicle (UAV) layer, multi-robot layer and sensor network layer, which can adjust the system according to the specific task requirements.
Journal ArticleDOI
Local and asymmetrical potential field approach to leader tracking problem in rigid formations of fixed-wing UAVs
Cezary Kownacki,Leszek Ambroziak +1 more
TL;DR: A new asymmetrical local potential field is proposed that will steer UAV in the formation flight in the way that makes its airspeed and heading angle asymptotically tending to the air Speed and heading of the leader, according to the decrement of its position error.
Journal ArticleDOI
Completion of Collision Avoidance Control Algorithm for Multicopters Based on Geometrical Constraints
TL;DR: The collision avoidance problem for multicopters is solved based on the combination of geometrical constraints and kinematics equation through the proposed method to approach a given position after the completion of collision avoidance.
References
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MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Book
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Book ChapterDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: In this article, a real-time obstacle avoidance approach for manipulators and mobile robots based on the "artificial potential field" concept is presented, where collision avoidance, traditionally considered a high level planning problem, can be effectively distributed between different levels of control.
Journal ArticleDOI
Mobile Robot Positioning - Sensors and Techniques
TL;DR: This paper provides a review of relevant mobile robot positioning technologies and defines seven categories for positioning systems: Odometry, Inertial Navigation, Magnetic Compasses, Active Beacons, Global Positioning Systems, Landmark Navigation, and Model Matching.
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Robotics, Vision and Control
TL;DR: This second edition of this book is completely revised, updated and extended with coverage of Lie groups, matrix exponentials and twists; inertial navigation; differential drive robots; lattice planners; pose-graph SLAM and map making; restructured material on arm-robot kinematics and dynamics; series-elastic actuators and operationalspace control.