Journal
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Volume 65, Issue 1-4, Pages 153-173Publisher
SPRINGER
DOI: 10.1007/s10846-011-9570-8
Keywords
Joint planning and control; Navigation control; Autonomous UAVs; Harmonic potential field; Harmonic potential; UAV joint planning and control
Funding
- King Fahad University of Petroleum and Minerals
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Simultaneous planning and control of a large variety of unmanned aerial vehicles (UAVs) is tackled using the harmonic potential field (HPF) approach. A dense reference velocity field generated from the gradient of an HPF is used to regulate the velocity of the UAV concerned in a manner that would propel the UAV to a target point while enforcing the constraints on behavior that were a priori encoded in the reference field. The regulation process is carried-out using a novel and simple concept called the: virtual velocity attractor (VVA). The combined effect of the HPF gradient and the VVA is found able to yield an efficient, easy to implement, well-behaved and provably-correct context-sensitive control action that suits a wide variety of UAVs. The approach is developed and basic proofs of correctness are provided along with simulation results.
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