Three-Dimensional Path Planning of UAV Based on Improved Artificial Potential Field
In order to find a safe path for Unmanned Aerial Vehicle(UAV)in forest fires,a global path planning method based on improved artificial potential field(APF)is proposed.This method applies the grid model to model threats in threedimensional space;then uses the target as the source of gravity to establish a gravitational field,and the threat as the source of repulsion to establish a repulsive field.At the same time,it improves the modeling of gravitational and repulsive fields to overcome the disadvantages of the traditional artificial potential field;then with dynamic obstacle avoidance,the UAV can quickly escape the threat of dynamic obstacles.Simulation results prove that this method can get the optimal route in a given environment.
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