Intelligent cooperative collision avoidance via fuzzy potential fields

Choi, Daegyun; Chhabra, Anirudh; Kim, Dong-Hoon

doi:10.1017/s0263574721001454

Cited by 3 publications

(1 citation statement)

References 37 publications

(43 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…He et al, on the other hand, proposed a good quality algorithm containing a module that allowed escaping local minima to obtain the global optimal solution iteratively ensuring that the robot reaches its target [9]. The problem of local minima and GNRON (goal non-reachable with obstacles nearby) was solved in an interesting way in work [10]. To resolve the local minima and GNRON problem, this work proposes an intelligent cooperative collision avoidance approach combining the enhanced potential field with a fuzzy inference system.…”

Section: Introductionmentioning

confidence: 99%

A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments

Kownacki

Ambroziak

2021

Sensors

View full text Add to dashboard Cite

The ability of autonomous flight with obstacle avoidance should be a fundamental feature of all modern unmanned aerial vehicles (UAVs). The complexity and difficulty of such a task, however, significantly increase in cases combining moving obstacles and nonholonomic UAVs. Additionally, since they assume the symmetrical distribution of repulsive forces around obstacles, traditional repulsive potential fields are not well suited for nonholonomic vehicles. The limited maneuverability of these types of UAVs, including fixed-wing aircraft, requires consideration not only of their relative position, but also their speed as well as the direction in which the obstacles are moving. To address this issue, the following work presents a novel multidimensional repulsive potential field dedicated to nonholonomic UAVs. This field generates forces that repulse the UAV not from the obstacle’s geometrical center, but from areas immediately behind and in front of it located along a line defined by the obstacle’s velocity vector. The strength of the repulsive force depends on the UAV’s distance to the line representing the obstacle’s movement direction, distance to the obstacle along that line, and the relative speed between the UAV and the obstacle projected to the line, making the proposed repulsive potential field multidimensional. Numerical simulations presented within the paper prove the effectiveness of the proposed novel repulsive potential field in controlling the flight of nonholonomic UAVs.

show abstract

Section: Introductionmentioning

confidence: 99%