2022
DOI: 10.1017/s026357472200042x
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Motion planning of unmanned aerial vehicles in dynamic 3D space: a potential force approach

Abstract: This research focuses on a collision-free real-time motion planning system for unmanned aerial vehicles (UAVs) in complex three-dimensional (3D) dynamic environments based on generalized potential force functions. The UAV must survive in such a complex heterogeneous environment while tracking a dynamic target and avoiding multiple stationary or dynamic obstacles, especially at low hover flying conditions. The system framework consists of two parts. The first part is the target tracking part employing a general… Show more

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Cited by 5 publications
(3 citation statements)
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“…In addition, various ways of operation in such difficult conditions are suggested. For example, in [4,5,18], the authors propose to bypass dangerous areas in order to minimize the probability of loss of UAVs. Part of the work [8] is devoted to compare UAV control methods in dangerous area in order to increase the probability of successful flight.…”
Section: Discussion and Comparisonmentioning
confidence: 99%
“…In addition, various ways of operation in such difficult conditions are suggested. For example, in [4,5,18], the authors propose to bypass dangerous areas in order to minimize the probability of loss of UAVs. Part of the work [8] is devoted to compare UAV control methods in dangerous area in order to increase the probability of successful flight.…”
Section: Discussion and Comparisonmentioning
confidence: 99%
“…The literature [12] proposed an inter-frame matching scheme for point cloud information collected by LiDAR, which combines correction and optimization with nonlinear optimization based on an improved bit-pose algorithm for laser point cloud data to accomplish localization of mobile robots in unknown environments. The literature [13] improved the ant colony algorithm to solve this aspect.…”
Section: Related Workmentioning
confidence: 99%
“…For sensors, the global positioning system (GPS) provides UAV localization but it is limited to outdoor without existence of tall buildings or dense forests, and an inertial measurement unit (IMU) provides reliable acceleration and velocity information for UAVs but it accumulates errors. Visual sensors are lightweight and reliable that can both locate UAVs and detect targets in unknown environments, thus providing guarantee for schemes regarding autonomous flight, such as obstacle avoidance (Li et al, 2022; Singla et al, 2021), autonomous landing (An et al, 2023; Duan et al, 2020), path planning (Ma et al, 2018; Garibeh et al, 2022), and visual servoing (Li et al, 2023).…”
Section: Introductionmentioning
confidence: 99%