An Improved Artificial Potential Field Based Path Planning Algorithm For Cooperative Collision Of Multiple Unmanned Aerial Vehicles

Unmanned aerial vehicle(UAV)path planning is the core of mission planning system.There are few researches on path planning for multi-UAV collaborative trajectory planning which trajectory planning with completely unknown and moving target.There is a sudden crisis in the route planning for the movement of obstacles and the movement of target points and the need for real-time online flight path planning.UAVs exist in coordination and avoid collision at the same time to meet the problem.In order to solve the above problems,the improved artificial potential field method is used to solve the trajectory planning of a single UAV in a totally unknown environment.Secondly,multi-UAV collaborative tracking attacks on the same moving object are studied.First of all,for a single UAV,through the theory and simulation,thi s paper expounds the defects of the traditional artificial potential field method in the completely unknown environment and the moving of the target point.Using the new potential field theory based on the relative position improvement to solve the unmanned target of single unmanned aircraft,adaptively avoids the obstacle unknown in advance and tracks the dynamic target point in real time.By increasing the direction coordination force,the problem of the local minimum point and the forced collision existing is solved in the completely dynamic and complex environment.For the path planning of single UAVs,the flight path planned by the algorithm is as short as possible due to the limited life span of the UAVs and the fastest descent of the potential field in order to complete the task as soon as possible.Second,the proposed multi-UAV collision avoidance path planning.Multi-UAV should ensure that no collision occurs,so at any time,UAV to maintain a certain distance between the security,to ensure that no collision between UAV effective collaborative target tracking.Multi-UAV at the same time to reach the destination for target tracking is the key issue to be solved in the planning of multi-machine coordinated path planning.In order to ensure that more UAVs can arrive at the same time within a certain time range.We propose time constraints,and at the same time in order for the drone to complete the task as soon as possible,we need to make the planned track as short as possible.Based on the above algorithm design,the trajectory planning algorithm simulation of single UAV and multiple UAVs is simulated.In the case of a single moving target point,the improved artificial potential field method can adapt to real-time trajectory planning in a completely dynamic environment.The improved artificial potential field method is applied to each UAV.Utilizing the conditions of coordination and collision avoidance between machines can effectively solve the problem of multi-UAV flight path planning which can reach the target simultaneously and avoid obstacle avoidance and collision avoidance.The algorithm effectively improves the overall planning efficiency of multi-UAV cooperative trajectory planning system,which has a strong adaptability,real-time online to find the best track.