Multi-Rotor UAVs Path Planning Method based on Improved Artificial Potential Field Method

A path planning method based on Biogeography-Based optimized (BBO) artificial potential field algorithm is presented. The parameters of artificial attraction potential field and artificial repulsion potential field is optimized through state feedback and cyclic iteration. The BBO algorithm is used for parameters optimizing. While involving the optimization, the complexity of the design of path planning algorithm is reduced. The simulation results under local minimum situation and target unreachable situation is done. The results illustrate that the BBO based path planning algorithm is able to effectively accomplish the 2D path planning.