TY - GEN
T1 - Improved Artificial Field Method Based on the Flight Situation Awareness Map in Coaxial Rotor UAV
AU - Wei, Yiran
AU - Li, Kewei
AU - Deng, Hongbin
AU - Pan, Zhenhua
AU - Liu, Zhichao
AU - Wang, Wei
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - The use of unmanned aerial vehicle (UAV) has been recognized by the majority of people, and is regarded as a reliable tool to complete some tasks. As for the obstacle avoidance of coaxial rotor UAV (CR-UAV), a flight pattern map (Flight Situation Awareness Map: FSAM) that can sense the flight environment and an integrated control method (Improved Artificial Potential Field: IAPF) based on the common artificial potential field method with appropriate improvements to achieve obstacle avoidance (IAPF). Firstly, we construct the FSAM, which can map the environment information around the UAV on the FSAM. Then, based on the FSAM, the IAPF functions are established to achieve the obstacles avoidance. Cause the artificial potential field (APF) has a characteristic that cannot avoid: the problem of local minima, a rotating potential field is put forward to ensure that the CR-UAV has only one potential equilibrium point at the target point in the environment, and it will improve the ability of CR-UAV to avoid complex obstacles. At the end of this study, through data analysis, the performance of obstacle avoidance and the attitude stability of CR-UAV are good, the simulation results confirm that the approaches proposed in this paper can address the obstacles avoidance successfully.
AB - The use of unmanned aerial vehicle (UAV) has been recognized by the majority of people, and is regarded as a reliable tool to complete some tasks. As for the obstacle avoidance of coaxial rotor UAV (CR-UAV), a flight pattern map (Flight Situation Awareness Map: FSAM) that can sense the flight environment and an integrated control method (Improved Artificial Potential Field: IAPF) based on the common artificial potential field method with appropriate improvements to achieve obstacle avoidance (IAPF). Firstly, we construct the FSAM, which can map the environment information around the UAV on the FSAM. Then, based on the FSAM, the IAPF functions are established to achieve the obstacles avoidance. Cause the artificial potential field (APF) has a characteristic that cannot avoid: the problem of local minima, a rotating potential field is put forward to ensure that the CR-UAV has only one potential equilibrium point at the target point in the environment, and it will improve the ability of CR-UAV to avoid complex obstacles. At the end of this study, through data analysis, the performance of obstacle avoidance and the attitude stability of CR-UAV are good, the simulation results confirm that the approaches proposed in this paper can address the obstacles avoidance successfully.
KW - CR-UAV
KW - Flight Situation Awareness Map (FSAM)
KW - Improved Artificial Potential Field (IAPF)
KW - Obstacles avoidance
UR - http://www.scopus.com/inward/record.url?scp=85130913880&partnerID=8YFLogxK
U2 - 10.1007/978-981-16-9492-9_79
DO - 10.1007/978-981-16-9492-9_79
M3 - Conference contribution
AN - SCOPUS:85130913880
SN - 9789811694912
T3 - Lecture Notes in Electrical Engineering
SP - 800
EP - 809
BT - Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021
A2 - Wu, Meiping
A2 - Niu, Yifeng
A2 - Gu, Mancang
A2 - Cheng, Jin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Autonomous Unmanned Systems, ICAUS 2021
Y2 - 24 September 2021 through 26 September 2021
ER -