UAV Obstacle Avoidance Path Planning Based on Improved Artificial Potential Field Method
Mingrui Li, Ligang Quan, Qiaosong Li, Da Li, Zaifeng Li, Wei Ding · 2024
In order to solve the problems of target unreachability, local minima trap and long path length in artificial potential field method, an improved UAV obstacle avoidance path planning algorithm based on traditional artificial potential field method is proposed. The relative distance is introduced into the repulsive potential field function to solve the target unreachability problem; the regulatory force is introduced into the traditional artificial potential field method to solve the local minima trap problem; and the detection factor is introduced into the traditional artificial potential field method to exclude the influence of ineffective repulsive force, so as to optimize the obstacle avoidance path of UAVs and reduce the length of the path. The final simulation results show that the improved algorithm effectively solves the problems of target inaccessibility, local minima traps, and long path length, and reduces the path length by $9 \%-15 \%$. The algorithm effectively improves the obstacle avoidance efficiency compared with the traditional artificial potential field method.