An improved artificial potential field (IAPF) is proposed in view of the deficiencies of the traditional artificial potential field (TAPF) method in the 3D path planning of unmanned aerial vehicles (UAVs). First, a calculation method of repulsive potential field based on different obstacles is introduced. Then, an adaptive speed adjustment strategy is designed considering the physical constraints of the UAV. Meanwhile, a two-step method is proposed for the oscillation of local paths. Finally, the simulation results show that the IAPF effectively surmounts the weaknesses of the TAPF and is more consistent with the actual flight situation of the UAV.
UAV Path Planning Based on Improved Artificial Potential Field Method
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Kapitel : 271 ; 2930-2939
2023-03-10
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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