Obstacle Avoidance Planning for Quadrotor UAV Based on Improved Adaptive Artificial Potential Field

Considering the collision-prone problem near the initial point, goal non-reachable with obstacle nearby (GNWON) and the chattering problem of the traditional artificial potential field algorithm(TAPF), the attractive potential field function and the repulsive potential field function are improved respectively, and an improved adaptive artificial potential field algorithm(AAPF) is proposed. The algorithm can calculate the different potential field of each path point on-line in real time. On this basis, a 2D improved adaptive artificial potential field algorithm is extended to 3D space for autonomous obstacle avoidance planning of quadrotor UAV. A 3D obstacle model is established, and the principle of obstacle avoidance at the nearest contact point is designed to calculate the repulsive potential field. Then the obstacle avoidance planning strategy of Four-rotor UAV based on 3D adaptive potential field algorithm is designed. The simulation results show that the improved adaptive algorithm effectively compensates for the shortcomings of the traditional artificial potential field method and can be applied in 3D.