Super-Ellipsoidal Potential Function For Autonomous Collision Avoidance Of A Teleoperated Uav

摘要

In this paper, we present the design of the<br> super-ellipsoidal potential function (SEPF), that can be used for<br> autonomous collision avoidance of an unmanned aerial vehicle (UAV)<br> in a 3-dimensional space. In the design of SEPF, we have the<br> full control over the shape and size of the potential function. In<br> particular, we can adjust the length, width, height, and the amount<br> of flattening at the tips of the potential function so that the collision<br> avoidance motion vector generated from the potential function can<br> be adjusted accordingly. Based on the idea of the SEPF, we also<br> propose an approach for the local autonomy of a UAV for its collision<br> avoidance when the UAV is teleoperated by a human operator. In<br> our proposed approach, a teleoperated UAV can not only avoid<br> collision autonomously with other surrounding objects but also track<br> the operator’s control input as closely as possible. As a result, an<br> operator can always be in control of the UAV for his/her high-level<br> guidance and navigation task without worrying too much about<br> the UAVs collision avoidance while it is being teleoperated. The<br> effectiveness of the proposed approach is demonstrated through a<br> human-in-the-loop simulation of quadrotor UAV teleoperation using<br> virtual robot experimentation platform (v-rep) and Matlab programs.