| Issue |
ITM Web Conf.
Volume 47, 2022
2022 2nd International Conference on Computer, Communication, Control, Automation and Robotics (CCCAR2022)
|
|
|---|---|---|
| Article Number | 02016 | |
| Number of page(s) | 10 | |
| Section | Algorithm Optimization and Application | |
| DOI | https://doi.org/10.1051/itmconf/20224702016 | |
| Published online | 23 June 2022 | |
An autonomous obstacle avoidance method based on artificial potential field and improved A* algorithm for UAV
1 School of Automation, Nanjing University of Aeronautics and Astronautics, China
2 Shanghai Institute of Mechanical and Electrical Engineering, China
* Corresponding author: xsx843757345@nuaa.edu.cn
The main purpose of autonomous obstacle avoidance path planning of unmanned aerial vehicles (UAVs) is to find a collision-free flight path from the starting point to the target point in the threatened airspace. This paper mainly studies and designs an autonomous obstacle avoidance algorithm for UAVs. Firstly, the research status of obstacle avoidance is reviewed. Secondly, the problem scene is set up, and the basic algorithm used is described. Furthermore, a modified algorithm is designed to solve the problems mentioned above. Finally, the effectiveness of the method is simulated and verified.
Key words: Unmanned aerial vehicle (UAV) / Autonomous obstacle avoidance / Artificial potential field method (APF) / A* algorithm
© The Authors, published by EDP Sciences, 2022
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