A Study of Path Planning for Multi- UAVs in Random Obstacle Environment Based on Improved Artificial Potential Field Method

In this paper, an improved artificial potential field method is proposed and studied for path planning and obstacle avoidance of multi-UAVs. Based on the traditional artificial potential field method, a dynamic attraction factor and a dynamic repulsion factor are introduced to improve the potential field function and solve the problems of excessive attractive force, path optimization and safety in the obstacle avoidance process, and are applied to multi-UAV path planning. MATLAB simulation is used to demonstrate the feasibility of the improved algorithm in multi-UAV path planning.