Research on Multi-UAV Path Planning and Obstacle Avoidance Based on Improved Artificial Potential Field Method

The traditional APF algorithm is limited to the trajectory planning of a single UAV, and usually can't guarantee obstacle avoidance and reach the target. In this paper, an improved potential field function with distance factor and a dynamic step-size adjustment method are proposed to solve the common problems such as unreachable target, easy to fall into local minimum and jitter problem. At the same time, this method also considers the influence of the force between UAV to ensure a certain distance between UAV. Finally, in the three-dimensional simulation environment, multi-UAV can avoid obstacles and reach the target position.