Cooperative Path Planning of UAV Formation Based on Improved Artificial Potential Field
Wei Li, Yang Chen, Lei Xiang · 2022 IEEE 2nd International Conference on Electronic Technology, Communication and Information (ICETCI) · 2022
Aiming at the problem of sacrificing formation maintenance in the process of obstacle avoidance in solving UAV formation path planning by artificial potential field method, a route planning method based on improved artificial potential field method is proposed. Firstly, the UAV formation maintenance controller is designed by “virtual leader-follower” formation. Then, a UAV formation cooperative obstacle avoidance controller is designed by combining the communication topology of UAV formation with the artificial potential field method improved by introducing the attraction field of the goal point and the auxiliary potential field. In addition, a strategy of transforming linear formation is proposed to adapt to the narrow environment. Finally, the experimental simulation shows that the UAV formation can not only maintain the formation while avoiding obstacles, but also transform the linear formation through the narrow area.