Path planning and obstacle avoidance for UAV based on Laplacian potential field

doi:10.7523/j.issn.2095-6134.2020.05.013

›› 2020, Vol. 37 ›› Issue (5): 681-687.DOI: 10.7523/j.issn.2095-6134.2020.05.013

• Research Articles • Previous Articles Next Articles

Path planning and obstacle avoidance for UAV based on Laplacian potential field

GU Yujin^1,2,3, SONG Xiaocheng³, LIU Xiaopei³, LU Jie³

1. Shanghai Institute of Microsystem and Information Technology, Chinese Academy of Sciences, Shanghai 200050, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China;
3. ShanghaiTech University, Shanghai 201210, China

Received:2019-01-29 Revised:2019-04-15 Online:2020-09-15
Supported by:

Abstract

Abstract: We propose a method for autonomous navigation of unmanned aerial vehicles (UAVs) in cluttered environment utilizing Laplacian potential field. With suitable boundary conditions for obstacles and goal in the map, Laplace’s equations are solved by boundary element method (BEM). Then we establish artificial potential field which is capable of handling obstacles with complex configuration and guarantees nonexistence of local minima. Since such a kind of potential field has easy access to the gradient of arbitrary point in the map, a linear quadratic Gaussian controller (LQG) is designed for velocity tracking to help complete attitude control. The simulation is conducted on Airsim platform with different scenarioes, and the results illustrate that this method is valid for path planning and obstacle avoidance and has adaptability to unexpected disturbance.

Key words: boundary element method, Laplacian function, linear quadratic Gaussian control, UAV simulation

CLC Number:

TP242

GU Yujin, SONG Xiaocheng, LIU Xiaopei, LU Jie. Path planning and obstacle avoidance for UAV based on Laplacian potential field[J]. , 2020, 37(5): 681-687.

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Path planning and obstacle avoidance for UAV based on Laplacian potential field

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