Obstacle Avoidance Algorithm of Controlled UAV Formation Based on Improved 3D Artificial Potential Field Method

Obstacle avoidance technology of UAV formation is one of the important research directions of autonomous UAV formation flight. In order to shorten the effective flight path of UAV formation flight and maintain the consistency of formation flight, this paper improves the traditional 3D artificial potential field method. The path planning problem is optimized by introducing the obstacle auxiliary Angle collected by the sensor, and the distribution and height of the obstacle are used to determine whether it needs to be transferred to three dimensional calculation. When conversion to three dimensions is required, the average gravitational potential field is optimized based on the introduction of relative velocities between the UAVs. Simulation results show that the improved UAV formation obstacle avoidance algorithm can effectively shorten the flight path, thus achieving rapid crossing of obstacles to reach the target point while maintaining formation consistency, with high robustness and adaptability.