A Reactive Method for Collision Avoidance in Industrial Environments

doi:10.1007/s10846-016-0359-7

2016-03-02

DOI：10.1007/s10846-016-0359-7

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摘要

En 中文

本文提出了一种用于避免多个飞行器碰撞的反应式方法，该方法已在考虑工业环境的情况下实时应用。所提出的方法基于3d最优互惠避碰算法。所提出的方法的主要贡献是它考虑了3D建模的静态障碍物。因此，它已成功应用于存在复杂静态障碍物的现实工业环境中。增加了对飞行器的动态约束的考虑。该算法已集成到ROS框架中，并在仿真中进行了测试。已经进行了多达八架飞行器的多次模拟，包括长期合作任务。最后，第二个主要贡献包括评估在先进技术中心 (CATEC) 设施的试验台中进行的多达四个飞行器的几个实际实验。飞行器在存在静态障碍物的情况下飞行，并通过实时修改计划的轨迹来避免潜在的碰撞。

Keyword:

Collision

Avoidance

Real-time

Reactive

Cooperative

Experimental

Safety

Reciprocal

Quadrotor

Multi-UAS

期刊

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

IF:

2.8

论文数:

3.9K

被引数:

6.9K

机构

University of Sevilla

学者数:

1.9W

论文数: 1.7W

被引数: 15

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