2024
DOI: 10.3390/drones8090506
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A Pseudo-Exponential-Based Artificial Potential Field Method for UAV Cluster Control under Static and Dynamical Obstacles

Jie Zhang,
Fengyun Li,
Jiacheng Li
et al.

Abstract: This study presents a novel obstacle evasion method for unmanned aerial vehicle (UAV) clusters in the presence of static and dynamic obstacles. First, a discrete three-dimensional model of the UAV is provided. Second, the proposed improved artificial potential field (APF) is illustrated. In designing the improved scheme, a pseudo-exponential function is fused into the potential field, thus avoiding local extreme points. Frictional resistance is introduced to optimize vibration and maintain stability after reac… Show more

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