Research on UAV Path Planning Based on Improved Artificial Potential Field Method

Abstract

The path planning based on the traditional artificial potential field method ignores the shape or influence range of obstacles, and the path planning results are difficult to be used to solve practical problems. In order to solve this problem, this article combines the UAV's obstacle avoidance rules, introduces variables such as relative speed and relative acceleration, and proposes a path planning model based on the improved artificial potential field method. Under the same conditions, the path planning results of the traditional artificial potential field method and the algorithm in this paper are compared. The simulation results show that the improved artificial potential field method proposed in this paper can effectively solve the UAV obstacle avoidance problem.