UAV′s online route planning algorithm based on improved artificial potential field

Abstract

Online route planning could make the UAV in the dynamic environment quickly and efficiently generate suitable flight routes so that it is the necessary ability of UAV mission planning. This paper presents a three-dimensional online route planning method based on the adaptive artificial potential field method，which could cope with the UAV dynamic flight environment and quickly generate the real-time safety flight route that satisfies the task requirement. The route planning method uses the reference route gravitational field and the adaptive time disturbance factor in the process of constructing environment to help the UAV escape the trap when fall into the local minimum of potential field. And a virtual target method is proposed to help effectively solve the trapping problem. Computer simulation results show that the UAV online route planning method is easier to jump out of the local minimum of the potential field than the traditional method, and has better obstacle avoidance capability.

Keywords

• online route planning
• artificial potential field method
• reference path gravity field
• virtual target