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Intelligent cooperative collision avoidance via fuzzy potential fields

Published online by Cambridge University Press:  18 October 2021

Daegyun Choi Open the ORCID record for Daegyun Choi [Opens in a new window] ,
Anirudh Chhabra Open the ORCID record for Anirudh Chhabra [Opens in a new window]  and
Donghoon Kim Open the ORCID record for Donghoon Kim [Opens in a new window]
Daegyun Choi
Affiliation:
Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati
Anirudh Chhabra
Affiliation:
Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati
Donghoon Kim*
Affiliation:
Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati
*
*Corresponding author. E-mail:donghoon.kim@uc.edu
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Summary

This paper proposes an intelligent cooperative collision avoidance approach combining the enhanced potential field (EPF) with a fuzzy inference system (FIS) to resolve local minima and goal non-reachable with obstacles nearby issues and provide a near-optimal collision-free trajectory. A genetic algorithm is utilized to optimize parameters of membership function and rule base of the FISs. This work uses a single scenario containing all issues and interactions among unmanned aerial vehicles (UAVs) for training. For validating the performance, two scenarios containing obstacles with different shapes and several UAVs in small airspace are considered. Multiple simulation results show that the proposed approach outperforms the conventional EPF approach statistically.

Keywords

collision avoidancefuzzy inference systemenhanced potential fieldgenetic algorithm
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1919 - 1938
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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