Research on the Limitations of UAV Path Planning Based on Artificial Potential Field Method

Abstract

In this paper, an improved artificial potential field method is proposed to solve the obstacle avoidance problem in UAV path planning. We correct the potential function by introducing correction factors and relative distances, to address the limitations of the traditional artificial potential field method, i.e., target unreachability and local minimum. MATLAB simulations demonstrate the feasibility of the improved algorithm for solving the target unreachability and local minimum problems in path planning.