Improved potential field method for unknown obstacle avoidance using UAV in indoor environment

  title={Improved potential field method for unknown obstacle avoidance using UAV in indoor environment},
  author={Thi Thoa Mac and Cosmin Copot and Andres Hernandez and Robin de Keyser},
  journal={2016 IEEE 14th International Symposium on Applied Machine Intelligence and Informatics (SAMI)},
This paper proposes a solution to real-time collision-free path planning for an AR. Drone 2.0 UAV using only on-board visual and inertial sensing. The proposed solution consists in a modified potential field method to overcome the non-reachable goal problem. The approach comprises three key components: pattern-based ground for localization, proposed potential field method for path planning and PD controllers for steering commands. By applying the proposed method, the quadrotor is successful in… CONTINUE READING


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