Abstract
There are still some problems existing in the Olfati-Saber potential function, such as easily getting into local standstill and GNRON. Introducing a relative distance function and creating local virtual goal by using fan gird, an improved artificial potential field was proposed so as to solve those issues. The local virtual goal is created by finding the minimum positive characterization value which contains all potential energy in the sector and the degree of deviation of the goal lines. In return, based on APF, the local path is planned. The simulation results show that the improved algorithm can find a smooth and safe path for requirements of UAV. The proposed algorithm is simple and feasible with strong searching and adaptability.
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