Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Harmonic functions and collision probabilities
International Journal of Robotics Research
Towards Cosmopolitan Robot: Intelligent Navigation in Extended
Towards Cosmopolitan Robot: Intelligent Navigation in Extended
Continuous Airborne Communication Relay Approach Using Unmanned Aerial Vehicles
Journal of Intelligent and Robotic Systems
Autonomous robot navigation using adaptive potential fields
Mathematical and Computer Modelling: An International Journal
Sigmoid Limiting Functions and Potential Field Based Autonomous Air Refueling Path Planning for UAVs
Journal of Intelligent and Robotic Systems
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In this paper, Unmanned Aerial Vehicles are used for establishing an airborne communication relay chain to extend the communication range or to obtain a channel between two far points which are outside the single UAV communication range. Positions of the UAVs in the chain are detected by the vehicles autonomously and while establishing the suitable formation, collision avoidance between vehicles and other geographical obstacles are considered by using artificial potential fields. Especially to provide reliable continues communication between vehicles as uninterrupted channels, positions of the UAVs which are providing line of sight, calculated automatically by tuning artificial potential field parameters dynamically. The success of this novel approach is expressed by simulation studies in Matlab environment and the simulation results are validated using NS2 simulator.