Heuristic Guided Artificial Potential Field for Avoidance of Small Obstacles

Sagar Dalai, Mahammad Irfan, Samarth Singh, Kaushal Kishore, S. A. Akbar

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper, a modified heuristic guided Artificial Potential Field (APF) based algorithm has been proposed to find a practical trajectory for an Autonomous Unmanned Aerial Vehicle (UAV) path planning. The local minima are encountered in the conventional APF algorithm due to the cancellation of attractive and repulsive potential while avoiding unknown obstacles within the desired path, which results in the trapping of the agent before reaching the goal. Consequently, the traditional APF technique is therefore no longer advantageous in such cases. So in this proposed perpendicular approach based on APF helps to avoid such local minima. The advantage of the newly proposed method is the low computing time that lines up with the standard global path planner method. The proposed algorithm is tested and validated against existing general potential field techniques for different simulation scenarios in a 3D simulated environment using ROS and Gazebo supported PX4-SITL. The results have been presented for drone navigation and obstacle avoidance for the different scenarios in a simulated environment.

Original languageEnglish
Title of host publication2021 21st International Conference on Control, Automation and Systems, ICCAS 2021
PublisherIEEE Computer Society
Pages765-770
Number of pages6
ISBN (Electronic)9788993215212
DOIs
Publication statusPublished - 2021
Externally publishedYes
Event21st International Conference on Control, Automation and Systems, ICCAS 2021 - Jeju, Korea, Republic of
Duration: 12 Oct 202115 Oct 2021

Publication series

NameInternational Conference on Control, Automation and Systems
Volume2021-October
ISSN (Print)1598-7833

Conference

Conference21st International Conference on Control, Automation and Systems, ICCAS 2021
Country/TerritoryKorea, Republic of
CityJeju
Period12/10/2115/10/21

Keywords

  • Artificial Potential Field
  • Local Minimum
  • Obstacle Avoidance
  • Path Planning
  • ROS
  • UAV

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