Abstract: To address the defects of the traditional artificial potential field method, such as unreachable targets, easy to fall into local minimums, inability to avoid obstacles, and lack of trajectory optimization strategies, and to solve the problem of slow planning rate due to more layers in the layered potential field algorithm, the model of the UAV is established, in which the influence factor of the attractive and repulsive force is introduced into the layered potential field function to solve the problem of unreachable targets, and the " auxiliary force" is introduced to solve the problem of easily falling into local minimums. An adaptive extended potential field algorithm is proposed to further optimize the track. The results show that the algorithm can improve the planning efficiency through numerical simulation experiments on multi-UAV trajectory planning.

Key words: multi-UAV, track planning, impact factor, auxiliary force, adaptive extended potential field method