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The Three-Dimension Path Planning of UAV Based on Improved Artificial Potential Field in Dynamic Environment

In order to solve problem of path planning for Unmanned Aerial Vehicle (UAV) in dynamic environment, a three-dimensional (3D) path planning algorithm of UAV which Based on improved artificial potential field is proposed in this paper. First, the problem of target unreachable in path planning is solved through the improvement of artificial potential field function. Then the improved algorithm can avoid UAV going into local pole and shock area by setting potential field guide point. Finally a path optimization method is proposed to optimize the generate path. Simulation results show that the path planning algorithm can ensure UAV to real-time path replanning in dynamic environment and generate a smooth path, it proves the feasibility and effectiveness of the improved algorithm.