Abstract
Malfunction such as target non-reach ability, local minimum pole and oscillation happens when traditional APF is applied to route planning. This paper proposes an improved APF model, considering the relative distance between the UAV and the target, the relative distance between the lead craft and the wing craft and the safety. We ensure the point of target to be the global minimum point in the entire potential fieldtarget non-reach ability caused by the threat and target point being too close are solved by adopting the modified repulsive potential function; planning failure in which UAVs falling into local minimum point is solved by adopting random fluctuation method; considering the oscillation of traditional potential field, the obstacle link method is proposed. The results of the simulation indicate the single UAV simulation route after obstacles overall planning, track route of UAV formation and formation route with obstacles with turning angle constraints. Requirements of Formation control and formation obstacle avoidance have been well satisfied.
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