An autonomous obstacle avoidance method based on artificial potential field and improved A* algorithm for UAV

Abstract

The main purpose of autonomous obstacle avoidance path planning of unmanned aerial vehicles (UAVs) is to find a collision-free flight path from the starting point to the target point in the threatened airspace. This paper mainly studies and designs an autonomous obstacle avoidance algorithm for UAVs. Firstly, the research status of obstacle avoidance is reviewed. Secondly, the problem scene is set up, and the basic algorithm used is described. Furthermore, a modified algorithm is designed to solve the problems mentioned above. Finally, the effectiveness of the method is simulated and verified.

Keywords

• unmanned aerial vehicle (uav)
• autonomous obstacle avoidance
• artificial potential field method (apf)
• a* algorithm