OBSTACLE AVOIDANCE FOR MULTI-UAV SYSTEM WITH OPTIMIZED ARTIFICIAL POTENTIAL FIELD ALGORITHM

Yuehao Yan,∗,∗∗∗ Zhiying Lv,∗∗,∗∗∗∗ Jinbiao Yuan,∗∗∗ and Shufeng Zhang∗∗∗∗∗

Keywords

Path planning, UAV, artificial potential field (APF), energyefficient,collision avoidance, local minimum

Abstract

Unmanned aerial vehicles (UAVs) have incomparable advantages and gradually form multi-UAV systems, in which many UAVs work together to accomplish tasks through cooperation. In the case of flying in an unknown environment and the very close distance between them, it is essential to have a useful collision avoidance system to avoid the collision between obstacles and UAVs and between inter-UAVs. In this paper, a comprehensive optimal obstacle avoidant mechanism of UAV path planning is constructed. The flight environment of UAVs is described, and the warning ranges and danger ranges of UAV and obstacles are given fully considering the execution time and flight platform of UAV. Then, a reliable artificial potential field (APF) model for path planning of multi-UAV systems in a complex environment is presented, in which a method to save UAV’s energy and the solution for UAV Local minimization problem are proposed. Finally, the applicability of the improved algorithm is verified by simulation experiments.

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