An Improved Artificial Potential Field Method Based on Chaos Theory for UAV Route Planning

摘要

This paper proposes a modified artificial potential field method based on chaos theory. In this algorithm, the search algorithm of chaos theory is introduced into the potential field function of artificial potential field method, which changes the repulsion coefficients of obstacles and the gravitational coefficients of target points. This method resolves the defects of the traditional artificial potential field method, such as the local optimum problem, the inability to find the path between the close obstacles, the oscillation in front of the obstacles, and the oscillation in the narrow channel. Simulation experiments show that this algorithm can not only effectively solve the problems of the unmanned aerial vehicle (UAV) in the route planning, such as easily falling into the minimum and wandering around the end point, but also realize the route planning in complex situations, reduce the flight cost, and improve the speed and accuracy of the UAV route planning.