CN112180954B - Unmanned aerial vehicle obstacle avoidance method based on artificial potential field - Google Patents
Unmanned aerial vehicle obstacle avoidance method based on artificial potential field Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112947417A (en) * | 2021-01-27 | 2021-06-11 | 厦门大学 | Control method for obstacle avoidance of intelligent moving body |
CN113534838A (en) * | 2021-07-15 | 2021-10-22 | 西北工业大学 | Improved unmanned aerial vehicle track planning method based on artificial potential field method |
CN113534841A (en) * | 2021-07-29 | 2021-10-22 | 北京航空航天大学 | Unmanned aerial vehicle obstacle avoidance path planning algorithm and path planning algorithm |
CN114518770B (en) * | 2022-03-01 | 2024-05-31 | 西安交通大学 | Unmanned aerial vehicle path planning method integrating potential field and deep reinforcement learning |
CN114879719A (en) * | 2022-04-12 | 2022-08-09 | 江苏中科智能科学技术应用研究院 | Intelligent obstacle avoidance method suitable for hybrid electric unmanned aerial vehicle |
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CN103365299A (en) * | 2013-08-02 | 2013-10-23 | 中国科学院自动化研究所 | Method and device for avoiding obstacle of unmanned aerial vehicle |
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CN107219857A (en) * | 2017-03-23 | 2017-09-29 | 南京航空航天大学 | A kind of unmanned plane formation path planning algorithm based on three-dimensional global artificial potential function |
CN108459612A (en) * | 2017-02-21 | 2018-08-28 | 北京航空航天大学 | Unmanned plane formation control method based on Artificial Potential Field Method and device |
CN109358637A (en) * | 2018-05-25 | 2019-02-19 | 武汉科技大学 | A kind of earth's surface based on default course line closely independently detects the three-dimensional barrier-avoiding method of unmanned plane |
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CN101408772B (en) * | 2008-11-21 | 2010-09-08 | 哈尔滨工程大学 | AUV intelligent touching-avoiding method |
CN102591332B (en) * | 2011-01-13 | 2014-08-13 | 同济大学 | Device and method for local path planning of pilotless automobile |
CN102231082B (en) * | 2011-04-08 | 2013-06-12 | 中国船舶重工集团公司第七○二研究所 | Underwater object detection and autonomous underwater vehicle (AUV) automatic collision prevention method and system based on mini sonar |
EP3210090B1 (en) * | 2014-10-21 | 2020-10-14 | Road Trains LLC | Platooning control via accurate synchronization |
CN108398960B (en) * | 2018-03-02 | 2021-01-26 | 南京航空航天大学 | Multi-unmanned aerial vehicle cooperative target tracking method for improving combination of APF and segmented Bezier |
CN109318890A (en) * | 2018-06-29 | 2019-02-12 | 北京理工大学 | A kind of unmanned vehicle dynamic obstacle avoidance method based on dynamic window and barrier potential energy field |
CN109696917A (en) * | 2019-01-28 | 2019-04-30 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of spacecraft intersects barrier-avoiding method and system automatically |
CN110989656A (en) * | 2019-11-13 | 2020-04-10 | 中国电子科技集团公司第二十研究所 | Conflict resolution method based on improved artificial potential field method |
CN110794842A (en) * | 2019-11-15 | 2020-02-14 | 北京邮电大学 | Reinforced learning path planning algorithm based on potential field |
CN110727274B (en) * | 2019-11-19 | 2022-09-02 | 大连海事大学 | Unmanned ship system-based formation control method with collision avoidance and connectivity maintenance functions |
CN111207756B (en) * | 2020-03-19 | 2022-08-23 | 重庆邮电大学 | Mobile robot path planning method based on improved artificial potential field algorithm |
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Patent Citations (5)
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CN103365299A (en) * | 2013-08-02 | 2013-10-23 | 中国科学院自动化研究所 | Method and device for avoiding obstacle of unmanned aerial vehicle |
CN108459612A (en) * | 2017-02-21 | 2018-08-28 | 北京航空航天大学 | Unmanned plane formation control method based on Artificial Potential Field Method and device |
CN107219857A (en) * | 2017-03-23 | 2017-09-29 | 南京航空航天大学 | A kind of unmanned plane formation path planning algorithm based on three-dimensional global artificial potential function |
CN106843235A (en) * | 2017-03-31 | 2017-06-13 | 深圳市靖洲科技有限公司 | It is a kind of towards the Artificial Potential Field path planning without person bicycle |
CN109358637A (en) * | 2018-05-25 | 2019-02-19 | 武汉科技大学 | A kind of earth's surface based on default course line closely independently detects the three-dimensional barrier-avoiding method of unmanned plane |
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