Multi-UAV Trajectory Planning Based on Adaptive Segmented Potential Field Method

Authors

Guangjian Tian, School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China;Follow
Jiyang Dai, School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China;Follow
Jin Ying, School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China;
Ning Wang, School of Information Engineering, Nanchang Hang Kong University, Nanchang 330063, China;

Abstract

Abstract: To solve the problems that the traditional artificial potential field method is prone to fall into the local extreme value, target unreachability and excessive curvature of the planned trajectory curvature in the application of UAV trajectory planning, on the basis of the layered potential field method, a method of adding a second local attractive field at the target point and an attractive set composed of the target attractive field is proposed. This method overcomes the defects of unreachable targets and easy falling into local extremes. In addition, a piecewise function is introduced into the original layered potential field method, which improves the efficiency of trajectory planning and shortens the length of the trajectory. The simulation compares the traditional artificial potential field algorithm, comparison algorithm one, comparison algorithm two, the potential field algorithm based on the additional attractive field and the compound attractive field proposed in this paper, and the adaptive segmented potential field algorithm. The results show that the adaptive segmented potential field algorithm has better effectiveness and strong robustness.

Recommended Citation

Tian, Guangjian; Dai, Jiyang; Ying, Jin; and Wang, Ning (2022) "Multi-UAV Trajectory Planning Based on Adaptive Segmented Potential Field Method," Journal of System Simulation: Vol. 34: Iss. 11, Article 6.
DOI: 10.16182/j.issn1004731x.joss.21-0538
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss11/6

First Page

2368

Revised Date

2021-07-21

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.21-0538

Last Page

2376

CLC

TP391.9

Recommended Citation

Guangjian Tian, Jiyang Dai, Jin Ying, Ning Wang. Multi-UAV Trajectory Planning Based on Adaptive Segmented Potential Field Method[J]. Journal of System Simulation, 2022, 34(11): 2368-2376.

Corresponding Author

Jiyang Dai,djiyang@163.com

DOI

10.16182/j.issn1004731x.joss.21-0538