DocumentCode
1937965
Title
Collision and terrain avoidance for UAVs using the potential field method
Author
Oland, E. ; Kristiansen, R.
Author_Institution
Dept. of Technol., Narvik Univ. Coll., Narvik, Norway
fYear
2013
fDate
2-9 March 2013
Firstpage
1
Lastpage
7
Abstract
In this paper we study the problem of collision and terrain avoidance for multiple Unmanned Aerial Vehicles (UAVs) tracking a low altitude trajectory. By applying the artificial potential field method, the UAVs are able to avoid colliding with the terrain, as well as avoiding collisions with each other. The UAVs are modeled using a kinematic model with nonholonomic contraints, which through dynamic feedback linearization is controllable by using the artificial potential field method.
Keywords
autonomous aerial vehicles; collision avoidance; kinematics; trajectory control; UAV; artificial potential field method; collision avoidance; dynamic feedback linearization; kinematic model; nonholonomic contraints; potential field method; terrain avoidance; unmanned aerial vehicle tracking; Acceleration; Kinematics; Lead; Radar measurements; Radar tracking; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Aerospace Conference, 2013 IEEE
Conference_Location
Big Sky, MT
ISSN
1095-323X
Print_ISBN
978-1-4673-1812-9
Type
conf
DOI
10.1109/AERO.2013.6497178
Filename
6497178
Link To Document