Obstacles Avoidance for UAV SLAM Based on Improved Artificial Potential Field

Abstract:

When UAV is implementing the simultaneous location and mapping (SLAM) problem, the environment where UAV is flying exist unavoidable solid or moving obstacles, which threaten the flying safety and the completeness of SLAM mission. To conquer this problem, an improved artificial potential field algorithm is proposed to simultaneously accomplish obstacle avoidance of UAV and SLAM mission based on a cost function containing the distance from UAV to the goal and from UAV to the obstacles. Concerning the built UAV plane motion model, this algorithm is simulated and tested. The result shows that the proposed algorithm is effective to avoid the obstacles for UAV SLAM.

• Periodical: Applied Mechanics and Materials (Volumes 241-244)
• Pages: 1118-1121
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.241-244.1118
• Online since: December 2012
• Authors: Xi Bin Wang, Chao Song, Guo Rong Zhao, Jing Li Huang
• Keywords: Artificial Potential Field (APF), Obstacles Avoidance, SLAM, Uninhabited Aerial Vehicle (UAV)

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