Research on Improving Artificial Potential Field for Drone Obstacle Avoidance

To achieve unmanned aerial vehicles (UAVs) actively avoiding obstacles and smoothly reaching the target point in complex environments, This article proposes an improved artificial potential field method to enhance the obstacle avoidance ability of drones in complex environments. Aiming at the problem of unmanned aerial vehicles being unable to reach the target point due to insufficient gravity, a gravity gain parameter is introduced; A dynamic repulsive gain parameter has been added to address the issue of stationary motion caused by force balance. The simulation experiment results show that the improved algorithm achieves an obstacle avoidance success rate of about 90% for drones, effectively solving the problems of drones staying in place and being unable to reach the target point, and providing a guarantee for the smooth completion of drone flight tasks.