Autonomous Obstacle Avoidance Algorithm for UAV in 3D Space Based on Improved Potential Field and Fluid Disturbance

Abstract

To solve the obstacle avoidance problem of Unmanned Aerial Vehicle (UAV) flying in three-dimensional space, an effective obstacle avoidance algorithm is proposed. Firstly, a standard convex body modeling method is adopted according to the known obstacle edge information, and the obstacles are roughly covered by the standardized model to generate the obstacle information about the current flight environment. Then, a force field of repulsion and gravity is generated by using the three-dimensional artificial potential field (APF) method, which is suitable for the global search. Finally, when approaching the surface of the obstacle, a fluid disturbance potential field is generated by using the fluid disturbance algorithm, which can achieve high precision obstacle avoidance. The experiments show that in the three-dimensional space obstacle avoidance trajectory, the combination of artificial potential field and fluid disturbance algorithm can realize UAV obstacle avoidance with better response speed and accuracy.KeywordsObstacle avoidanceUAVStandard modelingTrajectory planning