Journal of System Simulation
Abstract
Abstract: To address the defects of the traditional artificial potential field method, such as unreachable targets, easy to fall into local minimums, inability to avoid obstacles, and lack of trajectory optimization strategies, and to solve the problem of slow planning rate due to more layers in the layered potential field algorithm, the model of the UAV is established, in which the influence factor of the attractive and repulsive force is introduced into the layered potential field function to solve the problem of unreachable targets, and the " auxiliary force" is introduced to solve the problem of easily falling into local minimums. An adaptive extended potential field algorithm is proposed to further optimize the track. The results show that the algorithm can improve the planning efficiency through numerical simulation experiments on multi-UAV trajectory planning.
Recommended Citation
Ning, Wang; Dai, Jiyang; Jin, Ying; Li, Yeding; and Lu, Liangliang
(2021)
"Multi-UAV Trajectory Planning Simulation Based on Adaptive Extended Potential Field,"
Journal of System Simulation: Vol. 33:
Iss.
9, Article 16.
DOI: 10.16182/j.issn1004731x.joss.20-0406
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol33/iss9/16
First Page
2147
Revised Date
2020-08-06
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.20-0406
Last Page
2156
CLC
TP391.9
Recommended Citation
Wang Ning, Dai Jiyang, Ying Jin, Li Yeding, Lu Liangliang. Multi-UAV Trajectory Planning Simulation Based on Adaptive Extended Potential Field[J]. Journal of System Simulation, 2021, 33(9): 2147-2156.
DOI
10.16182/j.issn1004731x.joss.20-0406
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