文档介绍：中国测试
China Measurement & Test
ISSN 1674-5124,CN 51-1714/TB
了局部极小问题。改进算法实现了对原
算法的功能扩充。对上述算法进行仿真模拟，在面型，凹形及复杂障碍场景下都完成了规避任务，验证了
改进算法的有效性。
关键词：无人机；自主避障；人工势场；路径跟踪
中图分类号： 文献标志码：A
Obstacle avoidance algorithm for UAV path tracking based on three-dimensional
APF
GONG Yu1, LIU XiaoHong1,XU Zheng1,DING Nan1, LI MingZu2 ,ZOU ZhenDong3
(1. Yancheng Power Supply Company, Yancheng 224005, China;
2. School of Electric Power, Nanjing Institute of Engineering, Nanjing, Jiangsu 211167,
China;
3. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing
210094, China)
Abstract：Aiming at the problem of path tracking and autonomous obstacle avoidance of UAV
in three-dimensional space, this paper proposes an autonomous obstacle avoidance algorithm for
UAV path tracking based on the improved three-dimensional artificial potential field method.
Based on the traditional two-dimensional artificial potential field algorithm