Feasible Computationally Efficient Path Planning for UAV Collision Avoidance

Wang, Han; Cao, Muqing; Jiang, Hao; Xie, Lihua

doi:10.1109/icca.2018.8444284

Cited by 9 publications

(5 citation statements)

References 12 publications

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“…Regarding relative distance and surface tracking, comparable research includes [17] where indoor wall-tracking method is proposed. Work done in [18] introduces a wall-following algorithm combined with artificial potential fields for the purposes of path planning.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Wind-Turbine Blade Inspection Using LiDAR-Equipped Unmanned Aerial Vehicle

et al. 2020

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This research was supported by European Commission Horizon 2020 Programme through project under G. A. number 810321, named Twinning coordination action for spreading excellence in Aerial Robotics-AeRoTwin [1] and through project under G. A. number 820434, named ENergy aware BIM Cloud Platform in a COst-effective Building REnovation Context-ENCORE [2] ABSTRACT This paper presents a LiDAR-equipped unmanned aerial vehicle (UAV) performing semiautonomous wind-turbine blade inspection which includes traversing to the blade tip and back, while keeping constant relative distance and heading to the blade plane. Plane detection is performed applying the RANSAC method on a subset of the gathered pointcloud. Utilizing the relative distance to the inferred plane as well as its normal vector, the UAV is able to maintain a constant distance and heading towards the plane while moving in parallel with it. The proposed procedure performs successful wind-turbine blade inspections with minimal operator involvement. Inspection results include high-resolution blade images as well as a 3D model of the wind-turbine structure. Finally, to show the feasibility of this approach, simulations are performed on a wind-turbine model and experimental results are presented for an outdoor single-blade inspection scenario both on a mock-up setup and a full-scale wind-turbine blade. It is worth noting that the system's adequacy has been fully validated in real conditions on an operational wind farm.

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Section: Introductionmentioning

confidence: 99%

Autonomous Wind-Turbine Blade Inspection Using LiDAR-Equipped Unmanned Aerial Vehicle

et al. 2020

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“…Figure 1 shows a 3D model of a potential field established based on the APF method. It clearly shows the path of a robot that is moving under the influence of the force field [3]. The net force that applied to the robot in an artificial potential field can be calculated using equation (1).…”

Section: Repulsive Field and Attractive Fieldmentioning

confidence: 99%

“…When the value of robot's distance from obstacles exceeds this value, obstacles will not exert repulsive force on robots. If the value is less than the threshold value, then the potential energy value of repulsion field increases monotonically with decreasing distance and satisfies equation (3).…”

Section: Repulsive Field and Attractive Fieldmentioning

confidence: 99%

Review of unmanned aerial vehicle obstacle avoidance planning based on artificial potential field

Xing

2023

ACE

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With the development and widely use of unmanned aerial vehicles (UAVs) in recent years, the development of efficient path planning methods for automation has become crucial. Obstacle avoidance and path planning are the key components of UAV path planning. This article provides an overview of obstacle avoidance and path planning techniques for UAVs based on the artificial potential field method (APF method). This article begins with the explaining the principles of artificial potential field on this basis discusses its advantages and limitations. The article then summarizes the improvement strategies proposed by previous researchers to address issues like local minimum values and unreachable targets, such as introducing a new repulsive potential energy function, combining APF with other planning methods, and utilizing flow functions. Furthermore, it presents examples of the application and the performance of usage of these techniques in both static and dynamic environments. Based on this, the prospects and developing trend of UAV obstacle avoidance methods based on artificial potential field are foresee, such as combined with DRL and deep learning.

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“…There is also an opportunity to use a low-cost hybrid ground-to-air sensor network to measure environmental parameters using optimal trajectories. UAVs are used to measure environmental parameters directly, as well as to collect data from ground sensors while improving energy consumption and data acquisition efficiency [ 25 ].…”

Section: Possibility For Determining Optimal Paths To Reach a Threat-...mentioning

confidence: 99%

Possibilities of Using UAVs in Pre-Hospital Security for Medical Emergencies

Robakowska

Ślęzak

Żuratyński

et al. 2022

IJERPH

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The term unmanned aerial vehicle (UAV) was post-applied in the 1980s to describe remotely piloted multi-purpose, unmanned, autonomous aircraft. The terms unmanned aircraft systems with data terminal connectivity (UAS) and remotely piloted aircraft systems (RPV, RPAS—military systems) are also used. This review aims to analyze the feasibility of using UAVs to support emergency medical systems in the supply and urgent care ranges. The implementation of drones in the medical security system requires proper planning of service cooperation, division of the area into sectors, assessment of potential risks and opportunities, and legal framework for the application. A systematic literature search was conducted to assess the applicability based on published scientific papers on possible medical drone applications in the field of urgent mode. The widespread applications of UAVs in healthcare are concerned with logistics, scope, and transportability, with framework legal constraints to effectively exploit opportunities for improving population health, particularly for costly critical situations.

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Feasible Computationally Efficient Path Planning for UAV Collision Avoidance

Cited by 9 publications

References 12 publications

Autonomous Wind-Turbine Blade Inspection Using LiDAR-Equipped Unmanned Aerial Vehicle

Autonomous Wind-Turbine Blade Inspection Using LiDAR-Equipped Unmanned Aerial Vehicle

Review of unmanned aerial vehicle obstacle avoidance planning based on artificial potential field

Possibilities of Using UAVs in Pre-Hospital Security for Medical Emergencies

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