Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Multi-Uav Trajectory Planning Based On Adaptive Segmented Potential Field Method, Guangjian Tian, Jiyang Dai, Jin Ying, Ning Wang
Multi-Uav Trajectory Planning Based On Adaptive Segmented Potential Field Method, Guangjian Tian, Jiyang Dai, Jin Ying, Ning Wang
Journal of System Simulation
Abstract: To solve the problems that the traditional artificial potential field method is prone to fall into the local extreme value, target unreachability and excessive curvature of the planned trajectory curvature in the application of UAV trajectory planning, on the basis of the layered potential field method, a method of adding a second local attractive field at the target point and an attractive set composed of the target attractive field is proposed. This method overcomes the defects of unreachable targets and easy falling into local extremes. In addition, a piecewise function is introduced into the original layered potential field method, …
Dynamic Obstacle Avoidance Control Of Three-Order Multi-Robot Cooperative Formation, Yuchao Zhang, Yuan Jiang, Jiyang Dai
Dynamic Obstacle Avoidance Control Of Three-Order Multi-Robot Cooperative Formation, Yuchao Zhang, Yuan Jiang, Jiyang Dai
Journal of System Simulation
Abstract: Aiming at the obstacle avoidance and consensus control of underwater vehicles formation in a 3D complex environment, a cooperative formation dynamic obstacle avoidance control algorithm is proposed. An adaptive repulsion gain term based on the speed of dynamic obstacles is established and it is introduced into the repulsion potential field function to enable the robot to safely avoid static and dynamic obstacles. The potential field function based on the gain term of the potential field and the communication weight between the AUVs are defined to solve the robots of easy self collision and leaving the formation. The total acceleration …