Path Planning of Unmanned Aerial Vehicles (UAVs) in Windy Environments
نویسندگان
چکیده
Path planning of unmanned aerial vehicles (UAVs) is one the vital components that supports their autonomy and deployment ability in real-world applications. Few path-planning techniques have been thoroughly considered for multirotor UAVs pursuing ground moving targets (GMTs) with variable speed direction. Furthermore, most are generally devised without taking into consideration wind disturbances; as a result, they less suitable applications effect usually causes UAV to drift tilt from its original course, impacting mission’s main objective having an adequate non-deviant camera aim point steady coverage over GMT. This paper presents novel technique, based on artificial potential field (APF) following GMTs windy environments, provide continuous GMT, by proposing new modified attractive force enhance UAV’s sensitivity The resistance function accommodates any small variation relative displacement caused leading certain enables maintain position tilting (i.e., changing roll pitch angles) against retain proposed technique hardware-independent, does not require anemometer measuring direction, can be adopted all types equipped basic sensors autopilot flight controller. was evaluated Gazebo-supported PX4-SITL robot operating system (ROS) various simulation scenarios. Its performance demonstrated superiority handling disturbances showed high suitability
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ژورنال
عنوان ژورنال: Drones
سال: 2022
ISSN: ['2504-446X']
DOI: https://doi.org/10.3390/drones6050101