Three-Dimensional Path Planning of UAV Based on Improved Artificial Potential Field

In order to find a safe path for Unmanned Aerial Vehicle (UAV) in forest fires, a global path planning method based on improved artificial potential field (APF) is proposed. This method applies the grid model to model threats in three-dimensional space; then uses the target as the source of gravity to establish a gravitational field, and the threat as the source of repulsion to establish a repulsive field. At the same time, it improves the modeling of gravitational and repulsive fields to overcome the disadvantages of the traditional artificial potential field; then with dynamic obstacle avoidance, the UAV can quickly escape the threat of dynamic obstacles. Simulation results prove that this method can get the optimal route in a given environment.