Research on UAV formation obstacle avoidance algorithm based on artificial potential field method

Abstract

This paper focuses on the development of a multi-UAV formation control algorithm designed to avoid obstacles using the Artificial Potential Field (APF) method. The proposed method combines attractive and repulsive forces to guide UAVs through a 3D environment, ensuring both the stability of the formation and the avoidance of static and dynamic obstacles. In this approach, the leader UAV autonomously guides the formation, while follower UAVs adjust their positions dynamically in response to obstacles. The algorithm uses a leader-follower strategy, where the leader UAV sets the reference trajectory and the followers maintain relative positions while avoiding collisions. The method's effectiveness is verified through simulation results, which demonstrate successful obstacle avoidance and the maintenance of formation integrity in a complex, dynamic environment. The study also includes a detailed explanation of the control process, the optimization of key parameters, and the performance evaluation of the algorithm.