Research on the Limitations of UAV Path Planning Based on Artificial Potential Field Method

Yuan, Xiaoye

doi:10.1109/ifeea57288.2022.10037827

Cited by 5 publications

(1 citation statement)

References 15 publications

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“…The repulsive field of the obstacles is just the same as the attractive field but the force direction and the relationship between distance and forces are the opposite. A single obstacle located in , the repulsive field is [9,10]:…”

Section: Traditional Artificial Potential Field Methods (Apf)mentioning

confidence: 99%

Improved artificial potential field method for mobile robot path planning

Tao

2024

ACE

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Path planning has already been used in areas like robots and unmanned vehicles to prevent collisions in certain environments. A Path planning algorithm is needed to achieve such tasks and Artificial Potential Field (APF) method is one of the methods. However, APF has limitations facing various situations like being stuck in a local minimum such as a dead-end or a narrow path. To solve the problem, First, a side force is added to the algorithm along with two types of definitions of the force direction. Then a variable is proposed to prevent the dead-end situation. Finally, the variable step size is used to improve the efficiency of the algorithm. The simulation results demonstrate the effectiveness of the method. In comparison to APF, the improved APF could prevent the local minimum and reach the target position with fewer processing steps and better performance.

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Section: Traditional Artificial Potential Field Methods (Apf)mentioning

confidence: 99%

Improved artificial potential field method for mobile robot path planning

Tao

2024

ACE

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Real-Time Local Obstacle Avoidance and Trajectory Tracking Control of Quadrotor UAVs With Suspended Payload in Complex Environments

Zhang,

Kong

et al. 2023

IEEE Access

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Compared with traditional vehicle transportation methods, unmanned aerial vehicles (UAVs) have many advantages in transporting cargo because they are not limited by factors such as road traffic. To address practical applications, this paper presents a local obstacle avoidance control scheme for the quadrotor with suspended payload, which is suitable for complex environments with dense obstacles and external disturbances. Firstly, the overall dynamic model of the quadrotor-payload system is established using Euler-Lagrange equations. Secondly, considering the envelope circle radius switching problem caused by changes in the amplitude of the swing angles of the payload, an obstacle avoidance constraint of the quadrotorpayload system is presented, and an R-function is introduced to improve the traditional artificial potential field method, so as to achieve a less conservative obstacle avoidance. Thirdly, a cascade control scheme based on sliding mode algorithm is designed for the quadrotor-payload system trajectory tracking under external disturbances. Moreover, to avoid payload oscillations during flight, a feed-forward controller is designed to suppress the swing of the payload. Finally, simulation results verify the effectiveness and superiority of the proposed local obstacle avoidance strategy and control scheme.INDEX TERMS Artificial potential field, feed-forward control, obstacle avoidance, quadrotor-payload system, sliding mode control.

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