Path Planning for Multiple Unmanned Aerial Vehicles Based on Artificial Potential Field Algorithm and RRT Algorithm
In order to solve the problem of task allocation and path planning for multiple unmanned aerial vehicles in complex environments such as cities and mountainous areas,a collaborative path planning method for multiple unmanned aerial vehicles based on the fusion algorithm of artificial potential field algorithm and RRT is proposed.Optimize the repulsion function based on the artificial potential field algorithm and add inter machine repulsion factors to achieve collaborative collision avoidance.Introducing the RRT algorithm to expand search and solve the problem of single artificial potential field algorithm target unreachability when unmanned aerial vehicles fall into local extreme points.The feasibility of the method was verified through 3D path planning simulation experiments and algorithm comparison experiments.The experimental results showed that the fusion path planning algorithm can find the global optimal path under constraint conditions.
path planningunmanned aerial vehicleartificial potential field algorithmRRT algorithm
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