UAV Path Planning Based on Improved Artificial Potential Field Method

The obstacle avoidance system of a drone affects the quality its flight path. artificial potential field method can react quickly when facing obstacles; however, traditional lacks consideration position information between drones and obstacles during flight, issues including local minima, unreachable targets, unreasonable techniques that lengthen times consume more energy get encountered. Therefore, an improved is proposed. First, collision risk assessment mechanism was introduced to avoid actions reduce length unmanned aerial vehicle paths. Then, solve problem minimum values virtual sub-target set up model modified enable reach target point. At same time, evaluation factor determine reasonable sub-target, achieve path compared method. proposed algorithm plan path, consumption turning angle changes in make smoother, also be applied complex environments.