Multi-rotor UAV Track Planning Based on Improved Artificial Potential Field

Abstract

An improved artificial potential field (APF) method is proposed to solve the multi-rotor UAV flight path planning problem in this paper. Firstly, the grid method is adopted to build the environment model. After that, the A * algorithm is for generating the global path, and performs optimization for the node on the global path. Finally, the potential function of the traditional APF method is improved that an attraction force made by the global path to the multi-rotor drone is introduced, so the UAV can move guided by both obstacle and target together. Simulation results show that the proposed method can effectively correct the defects and deficiencies of the traditional APF method. The trajectory planning quality of multi-rotor UAVs in static and dynamic environments can be improved with the combination of the global advantages of A * algorithm and the APF method based real-time obstacle avoidance capability.