UAV obstacle avoidance based on improved artificial potential field method

The traditional artificial potential field method, distance is the only factor to determine the potential field force. When the UAV enters the obstacle's range of action, it is repelled by its potential field, the obstacle will have a repulsive effect on the UAV and as the distance continues to approach, the UAV is subjected to more and more repulsive force, making the UAV avoidance time is too long and the avoidance path is wasted. This paper proposes an improved artificial potential field method for the UAV forward path and obstacles do not intersect and is still in the variety of action of the repulsive potential field, which solves the problem that when the UAV forward direction does not intersect with the obstacles, the UAV is in the range of action of the repulsive potential field and is not subject to repulsive force, avoiding the waste of obstacle avoidance path. It is demonstrated through simulation analysis that the proposed obstacle avoidance algorithm produces superior results.