Route planning based on improved artificial potential field method

Abstract

Aiming at the problem that the traditional artificial potential field (APF) can not adapt to the complex planning space and fall into the local optimal solution, an improved artificial potential field method is proposed for two-dimensional UAV route planning. This method does not consider the influence of traditional attraction and repulsive force, but abstracts the two — dimensional programming space into a three — dimensional artificial potential field function, which makes the aircraft move to the low potential field intensity field in the potential field. And introduced a new search method. Experimental results show that this method can effectively solve the problem of UAV route planning and can effectively avoid the local optimal solution.