UAV Path Planning Based on Improved Artificial Potential Field Method

被引：0
|
作者：
Wang, Hai [1 ]
Wang, Lei [1 ]
Gao, Xiaohua [1 ]
Yu, Xinyong [1 ]
Lu, Chen [2 ]
Wang, Xinwei [3 ]
机构：
[1] Dalian Univ Technol, Sch Math Sci, Dalian 116024, Peoples R China
[2] Beihang Univ, Sch Reliabil & Syst Engn, Beijing 100191, Peoples R China
[3] Dalian Univ Technol, Dept Engn Mech, State Key Lab Struct Anal Ind Equipment, Dalian 116024, Peoples R China
来源：
PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022 | 2023年 / 1010卷
关键词：
UAV; Artificial potential field; Physical constraints; Path planning; AVOIDANCE;
D O I：
10.1007/978-981-99-0479-2_271
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2930 / 2939
页数：10
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