Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments

With the various applications of unmanned aerial vehicles (UAVs), the number of UAVs will increase in limited airspace, leading to an increased risk collision. To reduce such potential risk, this work proposes a collision avoidance strategy for UAVs using an enhanced potential field (EPF) approach i...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Daegyun Choi, Donghoon Kim, Kyuman Lee
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	enhanced potential field collision avoidance unmanned aerial vehicles Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/f6f04a9a17a64691b8acaedc56dea8ba
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:f6f04a9a17a64691b8acaedc56dea8ba
record_format	dspace
spelling	oai:doaj.org-article:f6f04a9a17a64691b8acaedc56dea8ba2021-11-25T16:42:49ZEnhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments10.3390/app1122110032076-3417https://doaj.org/article/f6f04a9a17a64691b8acaedc56dea8ba2021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/11003https://doaj.org/toc/2076-3417With the various applications of unmanned aerial vehicles (UAVs), the number of UAVs will increase in limited airspace, leading to an increased risk collision. To reduce such potential risk, this work proposes a collision avoidance strategy for UAVs using an enhanced potential field (EPF) approach in cluttered three-dimensional urban environments. Using the EPF formulated in a two-dimensional environment, the avoidance maneuvers for both horizontal and vertical planes are generated by introducing rotation matrices, and these maneuvers are combined by applying a weighting factor. The numerical simulations with various meaningful scenarios are conducted to validate the performance of the proposed approach. To mimic practical situations, UAV dynamics and sensor limitations were considered. The simulation results show that the proposed approach provides an efficient, reliable, and collision-free path without local minima and unreachable goal issues.Daegyun ChoiDonghoon KimKyuman LeeMDPI AGarticleenhanced potential fieldcollision avoidanceunmanned aerial vehiclesTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 11003, p 11003 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	enhanced potential field collision avoidance unmanned aerial vehicles Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	enhanced potential field collision avoidance unmanned aerial vehicles Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Daegyun Choi Donghoon Kim Kyuman Lee Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments
description	With the various applications of unmanned aerial vehicles (UAVs), the number of UAVs will increase in limited airspace, leading to an increased risk collision. To reduce such potential risk, this work proposes a collision avoidance strategy for UAVs using an enhanced potential field (EPF) approach in cluttered three-dimensional urban environments. Using the EPF formulated in a two-dimensional environment, the avoidance maneuvers for both horizontal and vertical planes are generated by introducing rotation matrices, and these maneuvers are combined by applying a weighting factor. The numerical simulations with various meaningful scenarios are conducted to validate the performance of the proposed approach. To mimic practical situations, UAV dynamics and sensor limitations were considered. The simulation results show that the proposed approach provides an efficient, reliable, and collision-free path without local minima and unreachable goal issues.
format	article
author	Daegyun Choi Donghoon Kim Kyuman Lee
author_facet	Daegyun Choi Donghoon Kim Kyuman Lee
author_sort	Daegyun Choi
title	Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments
title_short	Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments
title_full	Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments
title_fullStr	Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments
title_full_unstemmed	Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments
title_sort	enhanced potential field-based collision avoidance in cluttered three-dimensional urban environments
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/f6f04a9a17a64691b8acaedc56dea8ba
work_keys_str_mv	AT daegyunchoi enhancedpotentialfieldbasedcollisionavoidanceinclutteredthreedimensionalurbanenvironments AT donghoonkim enhancedpotentialfieldbasedcollisionavoidanceinclutteredthreedimensionalurbanenvironments AT kyumanlee enhancedpotentialfieldbasedcollisionavoidanceinclutteredthreedimensionalurbanenvironments
_version_	1718413054011506688

Enhanced Potential Field-Based Collision Avoidance in Cluttered Three-Dimensional Urban Environments

Ejemplares similares