Journal of the Korean Society for Aviation and Aeronautics (한국항공운항학회지)

The Korean Society for Aviation and Aeronautics (한국항공운항학회)
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Collision Avoidance for UAV using Potential Field based on Relative Velocity of Obstacles

장애물의 상대속도를 반영한 포텐셜필드 기반 무인항공기 충돌회피

  • 안승규 (한서대학교 항공시스템공학과) ;
  • 이동진 (한서대학교 무인항공기학과)
  • Received : 2018.05.21
  • Accepted : 2018.06.30
  • Published : 2018.06.30
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Abstract

In this paper, we investigate a collision avoidance algorithm for unmanned aerial vehicles using potential field based on the relative velocity of obstacles. The potential field consists of the attraction force and the repulsive force that are generated for the target and the obstacles. And the field can be classified into the attractive potential field generated by the target and the repulsive potential field generated by the obstacle, respectively. In this study, we construct an attractive potential field as a function of the distance between the UAV and the target position. On the other hand, a repulsive potential field is created by a function of distance and the relative velocity of the obstacle with respect to the UAV. The proposed potential field based collision avoidance algorithm is evaluate through simulations.

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References

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