TY - GEN
T1 - Obstacle Avoidance Algorithm for Multi-UAV Flocking Based on Artificial Potential Field and Dubins Path Planning
AU - Li, Xinfang
AU - Fang, Yangwang
AU - Fu, Wenxing
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - In this paper, a novel obstacle avoidance algorithm for the multi-UAV flocking was proposed by combining artificial potential field and Dubins path planning method. For the multi-UAV flocking, a virtual-leader was considered, and its flight path was designed by Dubins path planning method, which can take into account the overload constraint of the UAV. In this way, the flight path of the whole multi-UAV flocking was roughly planned, so as to save obstacle avoidance time, and the flight path of the follower-UAVs was designed according to the artificial potential field method, which has a better performance in real-time obstacle avoidance, and the algorithm is relatively simple. The simulation results show that the obstacle avoidance algorithm designed by combining the two methods has a better obstacle avoidance ability.
AB - In this paper, a novel obstacle avoidance algorithm for the multi-UAV flocking was proposed by combining artificial potential field and Dubins path planning method. For the multi-UAV flocking, a virtual-leader was considered, and its flight path was designed by Dubins path planning method, which can take into account the overload constraint of the UAV. In this way, the flight path of the whole multi-UAV flocking was roughly planned, so as to save obstacle avoidance time, and the flight path of the follower-UAVs was designed according to the artificial potential field method, which has a better performance in real-time obstacle avoidance, and the algorithm is relatively simple. The simulation results show that the obstacle avoidance algorithm designed by combining the two methods has a better obstacle avoidance ability.
KW - artificial potential field
KW - Dubins path planning
KW - multi-UAV flocking
KW - obstacle avoidance
UR - http://www.scopus.com/inward/record.url?scp=85080860764&partnerID=8YFLogxK
U2 - 10.1109/ICUS48101.2019.8995944
DO - 10.1109/ICUS48101.2019.8995944
M3 - 会议稿件
AN - SCOPUS:85080860764
T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
SP - 593
EP - 598
BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Y2 - 17 October 2019 through 19 October 2019
ER -