Obstacle Avoidance Algorithm for Multi-UAV Flocking Based on Artificial Potential Field and Dubins Path Planning

In this paper, a novel obstacle avoidance algorithm for the multi-UAV flocking was proposed by combining artificial potential field and Dubins path planning method. For the multi-UAV flocking, a virtual-leader was considered, and its flight path was designed by Dubins path planning method, which can take into account the overload constraint of the UAV. In this way, the flight path of the whole multi-UAV flocking was roughly planned, so as to save obstacle avoidance time, and the flight path of the follower-UAVs was designed according to the artificial potential field method, which has a better performance in real-time obstacle avoidance, and the algorithm is relatively simple. The simulation results show that the obstacle avoidance algorithm designed by combining the two methods has a better obstacle avoidance ability.