Uav Path Planning Based on Improved Artificial Potential Field Method

Abstract

At present, the research on UAV mission planning mainly focuses on traditional $\text{A}^{\star}$ algorithm, artificial potential field method, $\text{D}^{\star}$ algorithm and some early popular intelligent algorithms, such as ant colony algorithm, particle swarm algorithm, genetic algorithm and so on. To solve the artificial potential field method in unmanned aerial vehicle (UAV) route planning for obstacles and target distance too close without gravitational repulsion and only lead to target unreachable, UAV repulsive force and force of the net force is zero, not to the target point close to the problems, put forward an improved artificial potential field algorithm, we first by improved artificial potential field method in the repulsive force function, In the repulsive function, the attraction of UAV to the target point is introduced by obstacles to solve the problems of local optimization and unreachable target point. Then, the repulsive potential field of UAV boundary is established to limit the driving area of UAV, and the influence of UAV speed and repulsive potential field is properly considered. Finally, the effectiveness of the improved method is verified by simulation.