複数人工ポテンシャル関数によるUAVの衝突回避制御
A Multiple Artificial Potential Functions Approach for Collision Avoidance in UAV Systems
複数の人工ポテンシャル関数を用いたUAVの静的障害物回避制御法を提案し、ハイブリッドシステム理論で安定性を証明、シミュレーションで有効性を検証した。
著者: Oscar F. Archila, Alain Vande Wouwer, Johannes Schiffer
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and the uncertainty associated with obstacle detection. Artificial potential functions (APOFs) are a prominent method to address these challenges. However, existing solutions lack assurances regarding closed-loop stability and may result in chattering effects. Motivated by this, we propose a control method for static obstacle avoidance based on multiple artificial potential functions (MAPOFs). We derive tuning conditions on the control parameters that ensure the stability of the final position. The stability proof is established by analyzing the closed-loop system using tools from hybrid systems theory. Furthermore, we validate the performance of the MAPOF control through simulations, showcasing its effectiveness in avoiding static obstacles.