@inproceedings{0258c594c06645e7aa174578e821c262,
title = "An improved APF-based path planning algorithm for a quadrotor intercepting autonomous ground robots",
abstract = "In this paper, a path planning problem is investigated for a quadrotor which is required to intercept a group of target robots in an environment with moving obstacle robots. First of all, the kinematics model of the quadrotor, target robot and obstacle robot are established and the path planning problem is formulated. Then, an IMM-based estimation is given to provide the precise velocity of the target robot to be used in path planning algorithm, which performs a periodic movement with a rough period. Then, an improved Artificial Potential Field(APE)-based path planning method is proposed in which the suffer of the local minima can be avoided. Finally, simulation experimenal results show the effectiveness of the proposed algorithm.",
keywords = "Artificial Potential Filed(APD), Path Planning, Quadrotor",
author = "Yuanhong Li and Haodi Yao and Hang Yu and Fenghua He and Yu Yao",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8866592",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4772--4777",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "美国",
}