Dynamic obstacle avoidance path planning of UAV Based on improved APF

摘要

This paper analyzes the inapplicability of the traditional APF in the dynamic environment and the existence of local minimum. In this paper, a new potential field function is proposed. Combined with the fuzzy algorithm, the ratio of the absolute value of the difference between the gravitational force and the repulsive force of the UAV to the resultant force and their angle difference are taken as two fuzzy inputs. With the help of the fuzzy rules, the fuzzy output force is calculated to break the local minimum value.in the dynamic environment, the relative velocity repulsion potential field between UAV and dynamic obstacles is introduced to solve the problem of dynamic obstacle avoidance. The experimental simulation results show that the obstacle avoidance track drawn by the improved APF regulation in this paper is smoother and the obstacle avoidance track correlation data is better.