Obstacle Avoidance Model for UAVs with Joint Target based on Multi-Strategies and Follow-up Vector Field

A multi-strategies obstacle avoidance method based on follow-up rotating vector field is proposed for UAV flight planning. The inter-UAVs repulsion with distance factor and the target directional gravity are used as the inter-UAVs control strategy. In the process of obstacle avoidance, the artificial potential field method is used outside the obstacle to guide the UAVs to sail to the target point. In the obstacle avoidance scope, the follow-up rotating vector field method is proposed to avoid convex polyhedral obstacles. Finally, smoothing strategy is conbined to the follow-up rotating vector field to obtain safety and smoothing path. The simulation results show that the proposed algorithm can solve the problem of "dead zone" and "jitter" in the track by combining various strategies, and realize the obstacle avoidance behavior while avoiding collision between machines. (C) 2020 The Authors. Published by Elsevier B.V.