Research on UAV Cluster Obstacle Avoidance Algorithm Based on Improved Artificial Potential Field Method

Abstract

In view of the shortcomings of the traditional artificial potential field method for the obstacle avoidance of the UAV cluster, this paper solves the safety problem of obstacle avoidance during the flight of the UAV group, introduces the relative speed repulsion force field between the UAV group and the dynamic obstacle, and builds a virtual force field to solve the obstacle avoidance problem of the Calculate the force between the drones according to the distance between the drones. The obstacle generates repulsive force on the drone, the target generates gravity on the drone, and the combined force of gravity and repulsion acts on the drone to control the drone to avoid obstacles. The paper aims to realize multi-UAV obstacle avoidance, and improves the artificial potential field method. Through the design of the formation of UAVs and the UAV obstacle avoidance algorithm, the obstacle avoidance of UAVs is carried out. The simulation results show that the improved artificial potential field can meet the safety, real-time and accessibility requirements of the path planning of the UAV under the dynamic change of targets and obstacles, and improve the tracking and obstacle avoidance speed of the UAV in the dynamic environment.