An Improved APF-based Path Planning Algorithm for a Quadrotor Intercepting Autonomous Ground Robots
| Autor: | Yuanhong Li, Haodi Yao, Hang Yu, Yu Yao, Fenghua He |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Computer science 02 engineering and technology Kinematics Computer Science::Robotics Maxima and minima 020901 industrial engineering & automation Obstacle 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Motion planning Algorithm |
| Zdroj: | 2019 Chinese Control Conference (CCC). |
| Popis: | In this paper, a path planning problem is investigated for a quadrotor which is required to intercept a group of target robots in an environment with moving obstacle robots. First of all, the kinematics model of the quadrotor, target robot and obstacle robot are established and the path planning problem is formulated. Then, an IMM-based estimation is given to provide the precise velocity of the target robot to be used in path planning algorithm, which performs a periodic movement with a rough period. Then, an improved Artificial Potential Field(APE)-based path planning method is proposed in which the suffer of the local minima can be avoided. Finally, simulation experimenal results show the effectiveness of the proposed algorithm. |
| Databáze: | OpenAIRE |
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