UAV Path Planning Based on Improved Artificial Potential Field Method

Guoqiang Hao, Qiang Lv,Zhen Huang, Huanlong Zhao, Wei Chen

AEROSPACE(2023)

引用 1|浏览6
暂无评分
摘要
The obstacle avoidance system of a drone affects the quality of its flight path. The artificial potential field method can react quickly when facing obstacles; however, the traditional artificial potential field method lacks consideration of the position information between drones and obstacles during flight, issues including local minima, unreachable targets, and unreasonable obstacle avoidance techniques that lengthen flight times and consume more energy get encountered. Therefore, an improved artificial potential field method is proposed. First, a collision risk assessment mechanism was introduced to avoid unreasonable obstacle avoidance actions and reduce the length of unmanned aerial vehicle flight paths. Then, to solve the problem of local minimum values and unreachable targets, a virtual sub-target was set up and the traditional artificial potential field model was modified to enable the drone to avoid obstacles and reach the target point. At the same time, a virtual sub-target evaluation factor was set up to determine the reasonable virtual sub-target, to achieve a reasonable obstacle avoidance path compared to the traditional artificial potential field method. The proposed algorithm can plan a reasonable path, reduce energy consumption during flight, reduce drone turning angle changes in the path, make the path smoother, and can also be applied in complex environments.
更多
查看译文
关键词
UAV,artificial potential field method,virtual target points,adaptive step size,path planning
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要