Srivastava, Astik (Delhi Technological University), Vasudevan, V.R. (Delhi Technological University), Dalal, Harikesh (Delhi Technological University), Nallanthiga, Raghava (Delhi Technological University), Baliyarasimhuni, Sujit, P. (IISER Bhopal)

A Modified Artificial Potential Field for UAV Collision Avoidance

Scheduled for presentation during the Regular Session "Path Planning III" (ThA3), Thursday, June 8, 2023, 09:00−09:20, Room 464

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

As UAV applications in civilian airspace in- creases, securely operating them in congested environments becomes more challenging. A Cauchy Artificial Potential Field (CAPF) method is presented in this research to make UAV navi- gation practical and secure in a cluttered dynamic environment. The CAPF approach enables the UAVs to avoid collision with obstacles that could either be static or dynamic (Another UAV) commanding mostly non-aggressive maneuvers. The approach presented in the research has been verified through simulations and testing. We compare the results of CAPF with MAPF and the proposed approach has shown improvement in terms of total acceleration and in distance traveled by vehicles while providing safer margins at higher speeds.