Unmanned Aerial Vehicles (UAVs) are valuable assets in both military and civil domains due to their high maneuverability, portability, scalability, and flexibility advantages. Effective path planning is crucial for UAV mission systems, but fixed path planning algorithms cannot be applied to different scenarios. This paper proposes an obstacle avoidance algorithm to solve the local dynamic path planning problem for non-massive UAVs operating in a 2D environment. In addition, we address the multi-UAV cooperative dynamic path planning problem by introducing cooperative no-collision and time-cooperative constraints. The formation control force is incorporated into the total combined force formula. The simulation results show that the Party A UAV formation can arrive at the mission execution point without collision and complete the target tracking task in the face of the encirclement of multiple Party B UAVs.
Local Dynamic Path Planning for Multi-UAV Based on Improved Artificial Potential Field Algorithm
26.10.2023
774852 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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