Multi-UAV Path Planning with Collision Avoidance in 3D Environment Based on Improved APF

Aiming at the problem of path planning for multiple unmanned aerial vehicles (UAVs) in complex obstacle environ-ment, a new algorithm for obstacle avoidance and collision avoidance path planning is proposed. Based on the Artificial Potential Field (APF) method, the algorithm optimizes the attractive potential field function and the repulsive potential field function. Besides, this paper adds both a priority collision avoidance strategy between UAVs and temporary virtual target strategy. This algorithm not only improves the success rate of path planning, but also considers the collision problem when multiple UAVs cooperate to complete the task. The experimental simulation results show that, compared with the traditional APF method, the algorithm can accurately and effectively complete the path planning task in the complex obstacle environment, and realize the collaborative path planning of multi- UAV formations at the same time.