Research on Obstacle Avoidance Algorithm of Fixed-wing UAV Swarms Based on Improved Artificial Potential Field

In the swarm formation control system by leader-follower strategy, obstacle avoidance is the key requirement of unmanned aerial vehicle (UAV) swarm to coordinate trajectory planning, while the traditional artificial potential field (APF) ignores the problem that the UAV swarm needs to return to the scheduled route immediately after obstacle avoidance. Based on the UAV obstacle avoidance rules, this paper proposes a trajectory planning scheme based on improved artificial potential field (IAPF). Though IAPF, the UAV swarm considers the minimum turning radius factor when avoiding obstacles, does not deviate from the route after obstacle avoidance, and returns to the scheduled route nearby, thus the unity of UAV swarm obstacle avoidance and trajectory planning is realized. The simulation results show that the proposed scheme can effectively solve the problem of UAV swarm returning to the scheduled route immediately after obstacle avoidance.