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Journal of Shanghai University >

2019 , Vol. 25 >Issue 6: 879 - 887

DOI: https://doi.org/10.12066/j.issn.1007-2861.2179

Research Articles

An improved artificial potential field method constrained by a dynamic model

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  • 1. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai University, Shanghai 200072, China
    2. China Ship Development and Design Center, Wuhan 430064, China
    3. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
    4. School of Computer Engineering and Science, Shanghai University, Shanghai 200444, China

Received date: 2019-07-02

  Online published: 2019-12-31

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Abstract

It has been claimed that local minima are an inherent problem of the traditional artificial potential field (APF) algorithm, which is employed for unmanned aerial vehicle (UAV) path planning. An improved APF algorithm is proposed. By introducing a swerving force, a quick escape from the local minimum can be achieved. After analyzing the dynamic characteristics of a UAV, an angular constraint was introduced to improve the APF method. Through simulations, it is verified that the improved algorithm considers the short distance, smoothness, and safety of the path. Therefore, it is more suitable for the path planning of fixed-wing UAVs.

Key words： unmanned aerial vehicle (UAV); path planning; artificial potential field; virtual force; local minimum

Cite this article

Zhijiu HAN, Wenjiang WU, Xiaowei LI, Dan ZHANG, Chunxin LI . An improved artificial potential field method constrained by a dynamic model[J]. Journal of Shanghai University, 2019 , 25(6) : 879 -887 . DOI: 10.12066/j.issn.1007-2861.2179

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