Abstract
In this research, the performance of the traditional artificial potential field (TAPF) method in online path planning & obstacle avoidance of an aerial robot has been improved. In the TAPF method, the attraction coefficient of the target field and the repulsion coefficient of the obstacle fields are constant, which due to the agile dynamics of aerial robots may cause problems such as hitting an obstacle, missing the target with a long distance, and the path fluctuation when passing through narrow paths. The fuzzy artificial potential field (FAPF) method was presented to solve the mentioned problems. This method determines artificial potential field coefficients online using fuzzy logic. This fuzzy logic schedules artificial potential field coefficients by considering the distance and the line-of-sight angle between the UAV and target/obstacle. The simulation results show the performance and efficiency of the FAPF compared with the TAPF in the path planning problem.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
