Vector Field Path Generation and Obstacle Avoidance for Flying Robots

Abstract

This paper presents a simple and practical approach for generating a complex path vector field to guide and control flying robots. The proposed approach is based on the idea of generating guidance vectors of flying robots from a given path. A key feature is to easily and intuitively generate guidance vectors that effectively avoid singularities and obstacles on the path. The effectiveness of the approach is demonstrated using a powered paraglider simulator that accurately represents complex 3D dynamics.