UAV Path Planning Based on Improved Artificial Potential Field Method

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.