Research on Hierarchical Potential Field Method of Path Planning for UAVs

In order to solve the problems of the traditional artificial potential field, such as unreachable target, easy to fall into local minimum and lack of evaluation mechanism in the path planning of UAVs, based on the flight characteristics of UAVs in this paper, a hierarchical potential field method suitable for UAVs path planning is proposed. In the potential field function, the problem of unreachable target is solved by adding hierarchical potential field thought. The problem of falling into local minimum is solved by introducing rotational force, and the interaction force between UAVs is added to solve the collision problem between UAVs. The hierarchical potential field method is applied to expand the sector area at the current location point, form the path lattice at all levels and all directions, and select the optimal path point in the lattice, so as to get the evaluation mechanism of the artificial potential field method. Through numerical simulation, path planning simulation comparison of evaluation mechanism and without evaluation mechanism of multi spherical obstacle environment; the traditional potential field method, improved potential field method and hierarchical field method path planning simulation comparison of various shapes of complex obstacles environment, to verify the feasibility of hierarchical potential field method in this paper.