Journal of System Simulation
Abstract
Abstract: Focusing on the GNRON (goal nonreachable with obstacles nearby), the local minima and chattering of the traditional artificial potential field method, the potential field functions are improved and analyzed to guarantee the goal is the global minimum. In the dynamic potential field, a mechanism of judging whether to fall into local minima is introduced, a method of “moving along the orientation of 90° of goal direction” is used to jump out of the local minima, and the path planning of multi-UAV formation, the synergistic obstacle avoidance and collision prevention are achieved. The path is optimized by applying the regression search method. Simulation results show that the drawbacks of the conventional artificial potential field are solved effectively, and the practicability of the artificial potential field is enhanced.
Recommended Citation
Chen, Haiyun; Chen, Huazhou; and Qiang, Liu
(2020)
"Multi-UAV 3D Formation Path Planning Based on Improved Artificial Potential Field,"
Journal of System Simulation: Vol. 32:
Iss.
3, Article 8.
DOI: 10.16182/j.issn1004731x.joss.18-0252
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol32/iss3/8
First Page
414
Revised Date
2018-09-26
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.18-0252
Last Page
420
CLC
V249
Recommended Citation
Chen Haiyun, Chen Huazhou, Liu Qiang. Multi-UAV 3D Formation Path Planning Based on Improved Artificial Potential Field[J]. Journal of System Simulation, 2020, 32(3): 414-420.
DOI
10.16182/j.issn1004731x.joss.18-0252
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