关键词: 路径规划, 人工势场, 避障, 候选路径, 代价函数, 机动能耗

Abstract:

With the widespread use of drones in all aspects of production and life, the study of the algorithms of obstacle avoidance of drones has become a hot issue.In order to improved the obstacle avoidance performance of UAV, this paper proposed an obstacle avoidance algorithm for UAV path-planning based on the artificial potential field method.The algorithm decreased the attraction of the target point to the drone by generating the pre-planning path, and extends the continuity of the path. The dynamic adjustment factor was added to the potential field function to reduce the unnecessary turning maneuvers of the drone trajectory thus reducing the consumption of Mobile energy;The algorithm considered the safety, smoothness and maneuvering energy consumption of UAVs in flight. A new cost function is proposed and the optimal path was selected by minimizing the cost function.The experimental results showed that the algorithm overcomes the shortcomings of the traditional artificial potential field, and can plan safe, smooth, and small mobile energy consumption paths in different flight environments, effectively avoiding the obstacles with better adaptability.

Key words: path planning, artificial potential field, obstacle avoidance, candidate path, cost function, motor energy consumption