Research on UAV path planning obstacle avoidance algorithm based on improved artificial potential field method

Abstract

In this paper, we study the path planning obstacle avoidance problem of UAV based on improved artificial potential field method (APF). By introducing dynamic adjustment coefficients, the gravitational force and repulsive force functions in the traditional APF are improved to make the obstacle avoidance safety factor higher and the final path smoother; for the target unreachability problem, a new attractive potential field is built in the gravitational force function to balance the changes of the traditional attractive force and repulsive force; a longitudinal random factor is used to solve the problem of getting into local minima. Through simulation comparison with other methods, this method can solve the path planning obstacle avoidance problem of UAV more efficiently.