UAV 3D environment obstacle avoidance trajectory planning based on improved artificial potential field method

Abstract To address the inefficiency of the traditional artificial potential field method in complex environment for obstacle avoidance, the basic potential field function of the traditional artificial potential field method is improved, and the traditional spherical potential field is proposed to be improved to ellipsoidal potential field, and the improved algorithm is compared and simulated in MATLAB. The results show that the improved artificial potential field method satisfies the UAV to have high efficiency of safety and passability in obstacle avoidance trajectory planning in complex 3D environment.