Open AccessUAV 3D environment obstacle avoidance trajectory planning based on improved artificial potential field method
Author(s) -
Wenqiang Yu,
LU Yonggeng
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1885/2/022020
Subject(s) - potential field , obstacle avoidance , obstacle , trajectory , field (mathematics) , computer science , inefficiency , matlab , motion planning , artificial intelligence , function (biology) , control theory (sociology) , simulation , mathematics , mobile robot , geology , robot , physics , control (management) , microeconomics , astronomy , evolutionary biology , geophysics , pure mathematics , political science , law , economics , biology , operating system
To address the inefficiency of the traditional artificial potential field method in complex environment for obstacle avoidance, the basic potential field function of the traditional artificial potential field method is improved, and the traditional spherical potential field is proposed to be improved to ellipsoidal potential field, and the improved algorithm is compared and simulated in MATLAB. The results show that the improved artificial potential field method satisfies the UAV to have high efficiency of safety and passability in obstacle avoidance trajectory planning in complex 3D environment.