A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments

The ability of autonomous flight with obstacle avoidance should be a fundamental feature of all modern unmanned aerial vehicles (UAVs). The complexity and difficulty of such a task, however, significantly increase in cases combining moving obstacles and nonholonomic UAVs. Additionally, since they as...

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Autores principales:	Cezary Kownacki, Leszek Ambroziak
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	fixed-wing UAV nonholonomic UAV repulsive potential field obstacle avoidance dynamical environments Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/ffc83e19e7aa40e49939ccd6de6f706f
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id	oai:doaj.org-article:ffc83e19e7aa40e49939ccd6de6f706f
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spelling	oai:doaj.org-article:ffc83e19e7aa40e49939ccd6de6f706f2021-11-25T18:56:54ZA New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments10.3390/s212274951424-8220https://doaj.org/article/ffc83e19e7aa40e49939ccd6de6f706f2021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7495https://doaj.org/toc/1424-8220The ability of autonomous flight with obstacle avoidance should be a fundamental feature of all modern unmanned aerial vehicles (UAVs). The complexity and difficulty of such a task, however, significantly increase in cases combining moving obstacles and nonholonomic UAVs. Additionally, since they assume the symmetrical distribution of repulsive forces around obstacles, traditional repulsive potential fields are not well suited for nonholonomic vehicles. The limited maneuverability of these types of UAVs, including fixed-wing aircraft, requires consideration not only of their relative position, but also their speed as well as the direction in which the obstacles are moving. To address this issue, the following work presents a novel multidimensional repulsive potential field dedicated to nonholonomic UAVs. This field generates forces that repulse the UAV not from the obstacle’s geometrical center, but from areas immediately behind and in front of it located along a line defined by the obstacle’s velocity vector. The strength of the repulsive force depends on the UAV’s distance to the line representing the obstacle’s movement direction, distance to the obstacle along that line, and the relative speed between the UAV and the obstacle projected to the line, making the proposed repulsive potential field multidimensional. Numerical simulations presented within the paper prove the effectiveness of the proposed novel repulsive potential field in controlling the flight of nonholonomic UAVs.Cezary KownackiLeszek AmbroziakMDPI AGarticlefixed-wing UAVnonholonomic UAVrepulsive potential fieldobstacle avoidancedynamical environmentsChemical technologyTP1-1185ENSensors, Vol 21, Iss 7495, p 7495 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	fixed-wing UAV nonholonomic UAV repulsive potential field obstacle avoidance dynamical environments Chemical technology TP1-1185
spellingShingle	fixed-wing UAV nonholonomic UAV repulsive potential field obstacle avoidance dynamical environments Chemical technology TP1-1185 Cezary Kownacki Leszek Ambroziak A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments
description	The ability of autonomous flight with obstacle avoidance should be a fundamental feature of all modern unmanned aerial vehicles (UAVs). The complexity and difficulty of such a task, however, significantly increase in cases combining moving obstacles and nonholonomic UAVs. Additionally, since they assume the symmetrical distribution of repulsive forces around obstacles, traditional repulsive potential fields are not well suited for nonholonomic vehicles. The limited maneuverability of these types of UAVs, including fixed-wing aircraft, requires consideration not only of their relative position, but also their speed as well as the direction in which the obstacles are moving. To address this issue, the following work presents a novel multidimensional repulsive potential field dedicated to nonholonomic UAVs. This field generates forces that repulse the UAV not from the obstacle’s geometrical center, but from areas immediately behind and in front of it located along a line defined by the obstacle’s velocity vector. The strength of the repulsive force depends on the UAV’s distance to the line representing the obstacle’s movement direction, distance to the obstacle along that line, and the relative speed between the UAV and the obstacle projected to the line, making the proposed repulsive potential field multidimensional. Numerical simulations presented within the paper prove the effectiveness of the proposed novel repulsive potential field in controlling the flight of nonholonomic UAVs.
format	article
author	Cezary Kownacki Leszek Ambroziak
author_facet	Cezary Kownacki Leszek Ambroziak
author_sort	Cezary Kownacki
title	A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments
title_short	A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments
title_full	A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments
title_fullStr	A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments
title_full_unstemmed	A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments
title_sort	new multidimensional repulsive potential field to avoid obstacles by nonholonomic uavs in dynamic environments
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/ffc83e19e7aa40e49939ccd6de6f706f
work_keys_str_mv	AT cezarykownacki anewmultidimensionalrepulsivepotentialfieldtoavoidobstaclesbynonholonomicuavsindynamicenvironments AT leszekambroziak anewmultidimensionalrepulsivepotentialfieldtoavoidobstaclesbynonholonomicuavsindynamicenvironments AT cezarykownacki newmultidimensionalrepulsivepotentialfieldtoavoidobstaclesbynonholonomicuavsindynamicenvironments AT leszekambroziak newmultidimensionalrepulsivepotentialfieldtoavoidobstaclesbynonholonomicuavsindynamicenvironments
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A New Multidimensional Repulsive Potential Field to Avoid Obstacles by Nonholonomic UAVs in Dynamic Environments

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