Three Dimensional Route Planning of UAVs based on Velocity Potential Field Method

With the continuous expansion of the application field of UAV, high-speed 3D(three-dimensional) obstacle avoidance is one of the important problems that must be considered. In this paper, a new artificial potential field(APF) function is specially designed for dynamic path planning for high-speed obstacles whose speed is greater than the UAV. The theory of velocity potential field method is proposed to change the direction of resultant force, that is, add a repulsion force in the repulsion field that is perpendicular to the speed of obstacles and the speed of UAV itself. The improved velocity potential field method is simulated and compared with the original potential field method. The results show that the velocity potential field method can avoid high-speed obstacles with different speeds faster and better, and only the velocity potential field method can make the UAV avoid obstacles whose speed is greater than itself. It proves the advantage of the velocity potential field method in avoiding high-speed obstacles.