Obstacle Avoidance and Trajectory Optimization of Quadrotor UAV Based on Improved Potential Field
Qiuyan Xu, Yunsheng Fan, Yuanyuan Yu · 2024
In this paper, an improved potential field algorithm is proposed, which solves the problems of the traditional artificial potential field method. The improved potential field algorithm addresses these problems through two major improvements. First, an improved gravity function is adopted to ensure that the UAV can reach the target point and that the trajectories do not cross or overlap. Secondly, an optimized repulsive potential field calculation method is adopted. By introducing dynamic factor coefficients, the problem that the traditional repulsive potential field calculation is easy to fall into local minima is solved. Simulation results of 3D multi-UAV path planning show that the improved potential field algorithm effectively overcomes the shortcomings of the traditional potential field method.