Attract-Repel Path Planning for Lightweight UAV Collision Avoidance

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Solution Overview

Problem

Current navigation systems for unmanned aerial vehicles (UAVs) that process images to identify obstacles are expensive and add significant weight, making them impractical for commercial and recreational use due to the high computational and storage requirements.

Innovation Solution

The Attract-Repel Path Planner (ARPP) system determines a travel direction for UAVs to avoid objects by modeling them as electrostatic charges, using Coulomb's law and electric fields to calculate an attract-repel vector, allowing the vehicle to navigate towards a target location while avoiding obstacles without the need for high-end processing systems.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If image processing navigation systems are used to identify obstacles, then obstacle detection capability is improved, but system cost and weight increase significantly

Engineering Contradiction:

Improveobstacle detection capabilityVSAvoidsystem weight

Core Design Contradiction:

ReliabilityVSWeight of moving object

Solution Approach 1:

The patent replaces complex image processing systems with a simplified electromagnetic sensing system. Instead of using cameras and computational image analysis, the invention employs electromagnetic sensors to detect obstacles and a field-based navigation algorithm to generate avoidance paths, dramatically reducing system weight while maintaining obstacle detection capability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent extracts only the essential functionality needed for obstacle detection and navigation, eliminating unnecessary components. By focusing solely on electromagnetic field-based obstacle detection and attract-repel path planning, the system removes the heavy image processing subsystem while retaining core navigation safety functions

Inventive Principle:

Principle #2Taking out (Extraction)

2Reliability

If image processing navigation systems are used to identify obstacles, then obstacle detection capability is improved, but computational resources and processing power requirements increase

Engineering Contradiction:

Improveobstacle detection capabilityVSAvoidcomputational processing requirements

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent substitutes complex computational image processing with simpler electromagnetic field calculations. The system uses basic electromagnetic sensing data combined with attract-repel field algorithms that require minimal computational resources, replacing the need for high-end processors and large storage systems

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent changes the fundamental parameters of the navigation system from image-based spatial coordinates to electromagnetic field strength and direction parameters. This parameter transformation simplifies the computational model, allowing obstacle detection and path planning to be performed with basic mathematical operations rather than complex image analysis algorithms

Inventive Principle:

Principle #35Parameter changes

3Ease of manufacture

If remote control with line of sight is used for UAV navigation, then system cost is reduced, but operational flexibility and autonomy are limited

Engineering Contradiction:

Improvesystem costVSAvoidoperational autonomy

Core Design Contradiction:

Ease of manufactureVSAdaptability or versatility

Solution Approach 1:

The patent enables the UAV to navigate autonomously by detecting obstacles through electromagnetic sensors and automatically calculating avoidance paths using attract-repel field algorithms. The system serves itself by making real-time navigation decisions without requiring continuous human input or visual line of sight, bridging the gap between simple remote control and expensive autonomous systems

Inventive Principle:

Principle #25Self-service

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The ARPP system enables efficient and lightweight obstacle avoidance for UAVs, reducing the need for expensive image processing systems and allowing for autonomous navigation in various environments, including urban and rural areas, while maintaining safety by effectively planning evasive maneuvers.

Implementation Method 1

Methodology Applied

Scientific EffectCoulomb's law: Coulomb's Law

Implementation Method 2

Methodology Applied

Scientific EffectElectric field: Electric Field

Data Source

PatentUS11573575B2Attract-repel path planner system for collision avoidance

Publication Date: 2023.02.07 LAWRENCE LIVERMORE NAT SECURITY LLC

AI summary

A system for determining a travel direction that avoids objects when a vehicle travels from a current location to a target location is provided. The system determines a travel direction based on an attract-repel model. The system assigns a repel value to the object locations and an attract value. A repel represents a magnitude of a directional repulsive force, and the attract value represents the magnitude of a directional repulsive force. The system calculates an attract-repel field having an attract-repel magnitude and attract-repel direction for the current location based on the repel values and their directions and the attract value and its direction. The system then determines the travel direction for a vehicle to be the direction of the attract-repel field at the current location.