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Improved potential field method for unknown obstacle avoidance using UAV in indoor environment

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Abstract
This paper proposes a solution to real-time collision-free path planning for an AR. Drone 2.0 UAV using only on-board visual and inertial sensing. The proposed solution consists in a modified potential field method to overcome the non-reachable goal problem. The approach comprises three key components: pattern-based ground for localization, proposed potential field method for path planning and PD controllers for steering commands. By applying the proposed method, the quadrotor is successful in avoiding known/unknown obstacles and reaching the target in complex indoor environment. The results demonstrate the feasibility of the proposed strategy, which opens new possibilities for the agent to perform autonomous navigation.

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Please use this url to cite or link to this publication:

Chicago
Mac Thi, Thoa, Cosmin Copot, Jairo Andres Hernandez Naranjo, and Robain De Keyser. 2016. “Improved Potential Field Method for Unknown Obstacle Avoidance Using UAV in Indoor Environment.” In 2016 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI), 345–350.
APA
Mac Thi, T., Copot, C., Hernandez Naranjo, J. A., & De Keyser, R. (2016). Improved potential field method for unknown obstacle avoidance using UAV in indoor environment. 2016 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI) (pp. 345–350). Presented at the 14th IEEE International Symposium on Applied Machine Intelligence and Informatics (SAMI).
Vancouver
1.
Mac Thi T, Copot C, Hernandez Naranjo JA, De Keyser R. Improved potential field method for unknown obstacle avoidance using UAV in indoor environment. 2016 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI). 2016. p. 345–50.
MLA
Mac Thi, Thoa, Cosmin Copot, Jairo Andres Hernandez Naranjo, et al. “Improved Potential Field Method for Unknown Obstacle Avoidance Using UAV in Indoor Environment.” 2016 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI). 2016. 345–350. Print.
@inproceedings{7076511,
  abstract     = {This paper proposes a solution to real-time collision-free path planning for an AR. Drone 2.0 UAV using only on-board visual and inertial sensing. The proposed solution consists in a modified potential field method to overcome the non-reachable goal problem. The approach comprises three key components: pattern-based ground for localization, proposed potential field method for path planning and PD controllers for steering commands. By applying the proposed method, the quadrotor is successful in avoiding known/unknown obstacles and reaching the target in complex indoor environment. The results demonstrate the feasibility of the proposed strategy, which opens new possibilities for the agent to perform autonomous navigation.},
  author       = {Mac Thi, Thoa and Copot, Cosmin and Hernandez Naranjo, Jairo Andres and De Keyser, Robain},
  booktitle    = {2016 IEEE 14TH INTERNATIONAL SYMPOSIUM ON APPLIED MACHINE INTELLIGENCE AND INFORMATICS (SAMI)},
  isbn         = {978-1-4673-8740-8},
  language     = {eng},
  location     = {Herl'any, Slovakia},
  pages        = {345--350},
  title        = {Improved potential field method for unknown obstacle avoidance using UAV in indoor environment},
  year         = {2016},
}

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