Multi-UAV 3D Formation Path Planning Based on Improved Artificial Potential Field

doi:10.16182/j.issn1004731x.joss.18-0252

Abstract

Abstract: Focusing on the GNRON (goal nonreachable with obstacles nearby), the local minima and chattering of the traditional artificial potential field method, the potential field functions are improved and analyzed to guarantee the goal is the global minimum. In the dynamic potential field, a mechanism of judging whether to fall into local minima is introduced, a method of “moving along the orientation of 90° of goal direction” is used to jump out of the local minima, and the path planning of multi-UAV formation, the synergistic obstacle avoidance and collision prevention are achieved. The path is optimized by applying the regression search method. Simulation results show that the drawbacks of the conventional artificial potential field are solved effectively, and the practicability of the artificial potential field is enhanced.

Key words: Quadrotor, Flight Formation, Artificial Potential Field, Local Minima, Path Optimization

CLC Number:

V249

Chen Haiyun, Chen Huazhou, Liu Qiang. Multi-UAV 3D Formation Path Planning Based on Improved Artificial Potential Field[J]. Journal of System Simulation, 2020, 32(3): 414-420.

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