Improved artificial potential field method for UAV path planning

Abstract

Aiming at the problem that UAVs are easy to fall into shock and local optimization during path planning of traditional artificial potential field algorithms, which makes UAVs unable to reach the target point, an improved artificial potential field algorithm is proposed. First, the gravitational and repulsive force functions of the traditional artificial potential field method are improved into the gravitational and repulsive force functions with angle factors. Secondly, adaptive weights are added to the gravity and repulsion functions to solve the problem of UAV vibration and local optimization. Finally, the results of path planning are compared and analyzed with multiple algorithms under the same obstacle environment. The simulation results verify the effectiveness and superiority of the improved algorithm.