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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2022
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2208.03117 |
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| _version_ | 1866916217798787072 |
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| author | Srivastava, Astik Sujit, P. B. |
| author_facet | Srivastava, Astik Sujit, P. B. |
| contents | As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the stop-decide-execute methodology. This paper presents preliminary research to design a reactive collision avoidance algorithm based on the improved definition of the repulsive forces used in the Artificial potential field algorithms to allow feasible and safe navigation of fixed-wing UAVs in cluttered, dynamic environments. We present simulation results of the improved definition in multiple scenarios, and we have also discussed possible future studies to improve upon these results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2208_03117 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | A reformulation of collision avoidance algorithm based on artificial potential fields for fixed-wing UAVs in a dynamic environment Srivastava, Astik Sujit, P. B. Robotics As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the stop-decide-execute methodology. This paper presents preliminary research to design a reactive collision avoidance algorithm based on the improved definition of the repulsive forces used in the Artificial potential field algorithms to allow feasible and safe navigation of fixed-wing UAVs in cluttered, dynamic environments. We present simulation results of the improved definition in multiple scenarios, and we have also discussed possible future studies to improve upon these results. |
| title | A reformulation of collision avoidance algorithm based on artificial potential fields for fixed-wing UAVs in a dynamic environment |
| topic | Robotics |
| url | https://arxiv.org/abs/2208.03117 |