避碰
更安全的
加速度
计算机科学
势场
模拟
领域(数学)
防撞系统
碰撞
实时计算
航空航天工程
控制理论(社会学)
人工智能
工程类
数学
计算机安全
物理
控制(管理)
经典力学
地球物理学
地质学
纯数学
作者
Astik Srivastava,Vallabh Vasudevan,Harikesh,Raghava Nallanthiga,P. B. Sujit
标识
DOI:10.1109/icuas57906.2023.10156492
摘要
As UAV applications in the civilian airspace increases, securely operating them in congested environment becomes more challenging. A Cauchy Artificial Potential Field (CAPF) method is presented in this research to make UAV navigation practical and secure in a cluttered dynamic environment. The CAPF approach enables the UAVs to avoid collision with obstacles that could either be static or dynamic (Another UAV) commanding mostly non-aggressive maneuvers. The approach presented in the research has been verified through simulations and testing. We compare the results of CAPF with MAPF and the proposed approach has shown improvement in terms of total acceleration and in distance traveled by vehicles while providing safer margins at higher speeds.
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