3D Path Planning for Multi-UAV Base on Artificial Potential Field Method

This paper puts forward the improved artificial potential for UAV path planning. The idea of segmentation planning is used to plan the cruise section and the end with different algorithms, and from a single UAV to multi UAV path planning. According to the angle of the UAV and the threat, the angle between the leader and the wingman and the threat calculated. The angle formula of the leader and the threat is taken as part of the angle of the wingman and the threat. By adjusting the leader and angle of threat and the follower aircraft coefficient. The angle formula of improved the wingman and threat is get. To solve the different starting point of multi UAV formation flying after confluence and reach the target point of the problem at the same time. Simulation results show the effectiveness of the algorithm.