In this paper, an artificial potential field based technique is proposed for maintaining a formation of drones, for identifying rogue drones, and for avoiding collision with obstacles and rogue drones. Rogue drone identification is done by using a threshold potential value which is also used to identify the threat level of neighbouring drones. A novel assistive potential field concept is introduced to implement a collision avoidance strategy that helps the formation to avoid collision with the rogue drone as well as other obstacles. A pair of hyperplanes are defined using which the repulsive forces are generated. Simulations are presented to demonstrate the efficacy of the approach.
Rogue Agent Identification and Collision Avoidance in Formation Flights using Potential Fields
15.06.2021
1030624 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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