Journal
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
Volume 56, Issue 10, Pages 2473-2479Publisher
SCIENCE PRESS
DOI: 10.1007/s11431-013-5314-2
Keywords
artificial physics; heterogeneous coordination; unmanned aerial vehicle (UAV); unmanned ground vehicle (UGV); autonomous navigation; obstacle avoidance
Funding
- National Natural Science Foundation of China [61273054, 60975072]
- National Basic Research Program of China (973 Project) [2013CB035503]
- Program for New Century Excellent Talents in University of China [NCET-10-0021]
- Top-Notch Young Talents Program of China
- Fundamental Research Funds for the Central Universities of China
- Aeronautical Foundation of China [20115151019]
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This paper proposed an improved artificial physics (AP) method to solve the autonomous navigation problem for multiple unmanned aerial vehicles (UAVs)/unmanned ground vehicles (UGVs) heterogeneous coordination in the three-dimensional space. The basic AP method has a shortcoming of easily plunging into a local optimal solution, which can result in navigation fails. To avoid the local optimum, we improved the AP method with a random scheme. In the improved AP method, random forces are used to make heterogeneous multi-UAVs/UGVs escape from local optimum and achieve global optimum. Experimental results showed that the improved AP method can achieve smoother trajectories and smaller time consumption than the basic AP method and basic potential field method (PFM).
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